agx上搭建ros2

发现搭建这个还是很麻烦，网上资料都有点散，也就汇总下

colcon 命令

Quick start — colcon documentation

1，下载官方搭建方法

git clone https://github.com/NVIDIA-AI-IOT/ros2_jetson

2，源代码注释

#!/bin/bash

# NVIDIA Corporation and its licensors retain all intellectual property

# and proprietary rights in and to this software, related documentation

# and any modifications thereto. Any use, reproduction, disclosure or

# distribution of this software and related documentation without an express

# license agreement from NVIDIA Corporation is strictly prohibited.

# Set locale

sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

locale # verify settings

# Setting up sources

sudo apt-get update && \

sudo apt-get install -y git cmake build-essential curl wget gnupg2 lsb-release

#wget --no-check-certificate https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc &&

sudo apt-key add ros.asc

sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

# install ROS packages

sudo apt-get update

sudo apt-get install -y --no-install-recommends \

libbullet-dev \

libpython3-dev \

python3-colcon-common-extensions \

python3-flake8 \

python3-pip \

python3-pytest-cov \

python3-rosdep \

python3-setuptools \

python3-vcstool \

python3-rosinstall-generator \

libasio-dev \

libtinyxml2-dev \

libcunit1-dev \

&& rm -rf /var/lib/apt/lists/*

python3 -m pip install -U \

argcomplete \

flake8-blind-except \

flake8-builtins \

flake8-class-newline \

flake8-comprehensions \

flake8-deprecated \

flake8-docstrings \

flake8-import-order \

flake8-quotes \

pytest-repeat \

pytest-rerunfailures \

pytest

export ROS_PKG=ros_base #官方这没有，需要添加

export ROS_DISTRO=foxy

export ROS_ROOT=/opt/ros/${ROS_DISTRO}

sudo apt-get update

# Minimal ROS2 Installation - ROS Answers: Open Source Q&A Forum

sudo mkdir -p ${ROS_ROOT}/src && \

cd ${ROS_ROOT} && \

rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} launch_xml launch_yaml example_interfaces > ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \

cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \

vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall

#ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall# 这个主要是github下载地址，可以把那个github .com 替换 github.com.cnpmjs.org 来实现加速

# vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall # 主要是下载，有时下载不全需要重新下载，或者外部下载

# 有时有些库没有下载下来完应该还是上面命令配置问题https://github.com/ros/rosdistro/tree/master/foxy distribution.yaml 中可#以找到没下载的，新建一个重新下载编译例如 camera_info_manager

#必须注意格式不能错，就是空格不能少

#安装必备东西

sudo apt-get update

cd ${ROS_ROOT} && rosdep init && rosdep update && \

rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "" && \

rm -rf /var/lib/apt/lists/*

# Fix libyaml_vendor package issue

#sudo rm ${ROS_ROOT}/src/libyaml_vendor/CMakeList* && \

#sudo wget --no-check-certificate https://raw.githubusercontent.com/ros2/libyaml_vendor/master/CMakeLists.txt -P ${ROS_ROOT}/src/libyaml_vendor/

# build it!

cd ${ROS_ROOT} && colcon build --symlink-install

#colcon build --symlink-install 编译，如果没编译全，可下载后再次编译

#例如mimick_vendor 下载后，文件夹下 CMakelists 中海油下载的，也可替换 github.com.cnpmjs.org

#编译一定要注意/opt/ros/${ROS_DISTRO} 不然依赖关系不正确

echo 'source /opt/ros/foxy/install/setup.bash' >> ${HOME}/.bashrc

3，

修改完再次编译

colcon build --symlink-install # --symlink-install 表示编译时如果 install 中文件已经存在于 src 或者 build 文件夹中，就用超链接指向该文件，避免浪费空间，也可以实现同步更新。

4，更新 foxy

更新下载地址

https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos

也可对比更改项，再重新编译

5，编译完可以测试

colcon test-result --all

6，单独编译某个包

colcon build --packages-select PACKAGE_NAME

7 编译完后一定要更新环境

echo 'source /opt/ros/foxy/install/setup.bash' >> ${HOME}/.bashrc

如果自己的路径

echo 'source /home/xjr/ros_foxy/foxy/install/setup.bash' >> ${HOME}/.bashrc

8,其他

Could not find RTI Connext - skipping

是dds 没有安装，需要安装

https://github.com/eProsima/Fast-DDS

$ mkdir fastdds_ws

$ cd fastdds_ws

$ wget https://raw.githubusercontent.com/eProsima/Fast-DDS/master/fastrtps.repos

$ mkdir src

$ vcs import src < fastrtps.repos

$ colcon build

echo 'source /home/xjr/ros_foxy/fastdds_ws/install/setup.bash' >> ${HOME}/.bashrc

#9，由于rclcpp 版本太低导致没有#include "rclcpp/type_adapter.hpp"

#git clone https://github.com.cnpmjs.org/ros2/rclcpp.git

#git reset --hard 12.0.0 #转到版本还和rcl 依赖超级麻烦

######## 注意空格添加 cameara_info_manager

- git:

local-name: image_common/camera_calibration_parsers

uri: https://github.com.cnpmjs.org/ros2-gbp/image_common-release.git

version:release/foxy/camera_calibration_parsers/2.3.0-1

- git:

local-name: image_common/camera_info_manager

uri: https://github.com.cnpmjs.org/ros2-gbp/image_common-release.git

version:release/foxy/camera_info_manager/2.3.0-1

- git:

local-name: image_common/image_common

uri: https://github.com.cnpmjs.org/ros2-gbp/image_common-release.git

version:release/foxy/image_common/2.3.0-1

- git:

local-name: image_common/image_transport

uri: https://github.com.cnpmjs.org/ros2-gbp/image_common-release.git

version:release/foxy/image_transport/2.3.0-1

#########

到ros2.foxy_fix

vcs import src < ros2.foxy_fix

colcon build --packages-select rclcpp

10 boost older than 1.33

wget https://dl.bintray.com/boostorg/release/1.64.0/source/boost_1_64_0.tar.gz

或者 Boost C++ Libraries 大与1.33就可

xjr@xjr-desktop:/usr/bin$ sudo ln -s python3 python 把 python 变Python3

#docker 官方是1.65.1 sudo find / -name libboost_random.so*

tar zxvf boost_1_64_0.tar.gz

cd boost_1_64_0

./bootstrap.sh

#./b2 -j16 --prefix=$(pwd) --libdir=$(pwd)/lib64 --layout=system link=static install

sudo ./b2 -j8 install

添加 #路径要对

-DBOOST_ROOT=/path/to/boost_1_64_0

11 ，安装torch

BASEDIR=$(dirname "$0")

echo ${BASEDIR}

cd ${HOME}

wget https://nvidia.box.com/shared/static/cs3xn3td6sfgtene6jdvsxlr366m2dhq.whl -O torch-1.7.0-cp36-cp36m-linux_aarch64.whl

sudo apt-get install -y python3-pip libopenblas-base libopenmpi-dev

pip3 install Cython

pip3 install numpy torch-1.7.0-cp36-cp36m-linux_aarch64.whl

echo "-----------------------------------"

echo "Installing torchision v0.8.1"

echo "-----------------------------------"

sudo apt-get update

sudo apt-get install -y libjpeg-dev zlib1g-dev libpython3-dev libavcodec-dev libavformat-dev libswscale-dev

git clone --branch v0.8.1 https://github.com/pytorch/vision torchvision && cd torchvision

export BUILD_VERSION=0.8.1

python3 setup.py install --user

git clone https://github.com.cnpmjs.org/pytorch/vision.git

git checkout v0.8.1

12 ，安装opencv

version="4.5.0"

folder="workspace"

echo "** Remove other OpenCV first"

sudo sudo apt-get purge *libopencv*

echo "** Install requirement"

sudo apt-get update

sudo apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

sudo apt-get install -y python2.7-dev python3.6-dev python-dev python-numpy python3-numpy

sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev

sudo apt-get install -y libv4l-dev v4l-utils qv4l2 v4l2ucp

sudo apt-get install -y curl

echo "** Download opencv-"${version}

mkdir $folder

cd ${folder}

#可以迅雷下载

#curl -L https://github.com/opencv/opencv/archive/${version}.zip -o opencv-${version}.zip

#curl -L https://github.com/opencv/opencv_contrib/archive/${version}.zip -o opencv_contrib-${version}.zip

curl -L https://github.com.cnpmjs.org/opencv/opencv/archive/${version}.zip -o opencv-${version}.zip

curl -L https://github.com.cnpmjs.org/opencv/opencv_contrib/archive/${version}.zip -o opencv_contrib-${version}.zip

unzip opencv-${version}.zip

unzip opencv_contrib-${version}.zip

cd opencv-${version}/

echo "** Building..."

mkdir release

cd release/

cmake -D WITH_CUDA=ON -D WITH_CUDNN=ON -D CUDA_ARCH_BIN="5.3,6.2,7.2" -D CUDA_ARCH_PTX="" -D OPENCV_GENERATE_PKGCONFIG=ON -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${version}/modules -D WITH_GSTREAMER=ON -D WITH_LIBV4L=ON -D BUILD_opencv_python2=ON -D BUILD_opencv_python3=ON -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..

make -j$(nproc)

sudo make install

echo "** Install opencv-"${version}" successfully"

echo "** Bye :)"

#完成

注意：

openjpeg gtk+-3.0 VTK

下面目录下载都需要更改或者手动下载

opencv_contrib-4.5.0\modules\xfeatures2d\cmake

目录下更改

opencv4.5.0\cmake\OpenCVDownload.cmake

modules\gapi\cmake

如果包

CMakeFiles/Makefile2:7183: recipe for target 'modules/python3/CMakeFiles/opencv_python3.dir/all' failed

类似错误可以

python ./modules/python/src2/gen2.py ./release/modules/python_bindings_generator ./release/modules/python_bindings_generator/headers.txt

后再，编译

13 安装qt5

#sudo apt-get install qt5-default qtcreator -y

#wget Download PyQt from SourceForge.net

有时可以去PyPI · The Python Package Index 这下载pyqt5 5.15.4 和sip6.1.1

python3 configure.py

make -j8

make install

##可以看到有几个东西安装到/usr/local/bin 下面了也就可以用这几个工具编译pyqt5

Installing sip-build script to /usr/local/bin

Installing sip-distinfo script to /usr/local/bin

Installing sip-install script to /usr/local/bin

Installing sip-module script to /usr/local/bin

Installing sip-sdist script to /usr/local/bin

Installing sip-wheel script to /usr/local/bin

######

# install pyqt

tar xzf PyQt5_gpl-5.15.4.tar.gz

cd PyQt5_gpl-5.15.4

#windows

#python ./configure.py --sip /Users/karsten/.pyenv/versions/3.6.0/Python.framework/Versions/3.6/bin/sip # <-- This #has to point to your sip install location

#endwin

#linux

#python3 ./configure.py --sip /usr/bin/sip

#endlinux

#make -j8

#sudo make install

/usr/local/bin/sip-install

或者

/usr/local/bin/sip-build --no-make

make -j8

sudo make install

Installing PyQt5 — PyQt v5.15 Reference Guide

或者通过pip3 安装

#pip3 install sip -i Simple Index

#pip3 install PyQt5 -i Simple Index

#pip3 install python-qt5 -i Simple Index

#sudo apt-get purge python3-sip

##注意只有这个qt5 安装后其中包qt_gui_cpp 才能编译成功

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