Ubuntu22.04上源码构建ROS noetic
- 起因
- 准备环境
- 创建工作目录并下载源码
- 安装编译依赖包
- 安装ros_comm和rosconsole包的两个补丁并修改pluginlib包的CMakeLists的编译器版本
- 编译安装ROS noetic和ros_test
- 验证
起因
最近在研究VINS-Mono从ROS移植到ROS2，发现在编写feature_tracker的CMakeList.txt后，会出现找不到包含文件的问题，于是向先用ROS把VINS编译跑一下看看，便有了在Ubuntu 22.04虚拟机上再构建一个ROS的环境的想法，本来是想按照官网一步一步做就行了，然而到ROS的官方下载地址发现没有Ubuntu 22.04（jammy）版本和对应的Debian 12（Bookworm）的仓库。
所以按照ros官网安装步骤，在sudo apt update 这一步就止步了，原因就是Ros Noetic主要针对Ubuntu 20.04，并且不正式支持任何更新的发布了。
所以通过Google找到一个源码安装的方法，亲自验证后，在此分享给大家。
准备环境
- 安装docker
- 安装python3
- 安装pip3
- 安装git
- 下载ROS Noetic基础包源码（此次可能需要借助梯子）
创建工作目录并下载源码
mkdir -p ~/ros_noetic_base_2204/catkin_ws/src
在src目录下执行脚本，下载ROS 包
#!/bin/bash
git clone https://github.com/ros/actionlib.git -b 1.14.0
git clone https://github.com/ros/bond_core.git -b 1.8.6
git clone https://github.com/ros/catkin.git -b 0.8.10
git clone https://github.com/ros/class_loader.git -b 0.5.0
git clone https://github.com/ros/cmake_modules.git -b 0.5.0
git clone https://github.com/ros/common_msgs.git -b 1.13.1
git clone https://github.com/ros/dynamic_reconfigure.git -b 1.7.3
git clone https://github.com/ros/gencpp.git -b 0.7.0
git clone https://github.com/jsk-ros-pkg/geneus.git -b 3.0.0
git clone https://github.com/ros/genlisp.git -b 0.4.18
git clone https://github.com/ros/genmsg.git -b 0.6.0
git clone https://github.com/RethinkRobotics-opensource/gennodejs.git -b 2.0.1
git clone https://github.com/ros/genpy.git -b 0.6.16
git clone https://github.com/ros/message_generation.git -b 0.4.1
git clone https://github.com/ros/message_runtime.git -b 0.4.13
git clone https://github.com/ros/nodelet_core.git -b 1.10.2
git clone https://github.com/ros/pluginlib.git -b 1.13.0
git clone https://github.com/ros/ros.git -b 1.15.8
git clone https://github.com/ros/ros_comm.git -b 1.16.0
git clone https://github.com/ros/ros_comm_msgs.git -b 1.11.3
git clone https://github.com/ros/ros_environment.git -b 1.3.2
git clone https://github.com/ros/rosbag_migration_rule.git -b 1.0.1
git clone https://github.com/ros/rosbag_migration_rule.git -b 1.0.1
git clone https://github.com/ros/rosconsole.git -b 1.14.3
git clone https://github.com/ros/rosconsole_bridge.git -b 0.5.4
git clone https://github.com/ros/roscpp_core.git -b 0.7.2
git clone https://github.com/ros/roslisp.git -b 1.9.25
git clone https://github.com/ros/rospack.git -b 2.6.2
git clone https://github.com/ros/std_msgs.git -b 0.5.13
git clone https://github.com/ros/angles.git
git clone https://github.com/ros/geometry.git
返回到ros_noetic_base_2204目录，下载catkin_pkg和rospkg源码
git clone https://github.com/ros-infrastructure/catkin_pkg.git -b 0.5.2
git clone https://github.com/ros-infrastructure/rospkg.git -b 1.5.0
最后目录结构如下：
安装编译依赖包
sudo apt install -y cmake build-essential libboost-thread-dev libboost-system-dev libboost-filesystem-dev libboost-regex-dev libboost-program-options-dev libconsole-bridge-dev libpoco-dev libtinyxml2-dev liblz4-dev libbz2-dev uuid-dev liblog4cxx-dev libgpgme-dev libgtest-dev python3-setuptools python3-nose python3-pycryptodome python3-defusedxml python3-mock python3-netifaces python3-gnupg python3-numpy python3-psutil
安装ros_comm和rosconsole包的两个补丁并修改pluginlib包的CMakeLists的编译器版本
- 在~/ros_noetic_base_2204/catkin_ws/src/ros_comm目录下新建一个ros_comm.patch的文件，将ros_comm的补丁包的内容拷贝到该文件里（如果用wget直接下载该文件，需要在最后一行末尾加个回车，否则会报错
error: corrupt patch at line 22）。
在该目录下执行git apply --ignore-whitespace ros_comm.patch更新ros_comm包。 - 在~/ros_noetic_base_2204/catkin_ws/src/rosconsole目录下用同样的方法将rosconsole.patch内容写到该目录的文件里，在该目录下执行
git apply --ignore-whitespace rosconsole.patch更新rosconsole.patch包。 - 把pluginlib的CMakeList.txt文件中${PROJECT_NAME}_unique_ptr_test的C++编译器版本11改为17。
diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index 289c5af..1776c02 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -24,12 +24,12 @@ if(CATKIN_ENABLE_TESTING)endif()include(CheckCXXCompilerFlag)
- check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
- if(COMPILER_SUPPORTS_CXX11)
+ check_cxx_compiler_flag("-std=c++17" COMPILER_SUPPORTS_CXX17)
+ if(COMPILER_SUPPORTS_CXX17)catkin_add_gtest(${PROJECT_NAME}_unique_ptr_test test/unique_ptr_test.cpp)if(TARGET ${PROJECT_NAME}_unique_ptr_test)target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
- set_target_properties(${PROJECT_NAME}_unique_ptr_test PROPERTIES COMPILE_FLAGS -std=c++11 LINK_FLAGS -std=c++11)
+ set_target_properties(${PROJECT_NAME}_unique_ptr_test PROPERTIES COMPILE_FLAGS -std=c++17 LINK_FLAGS -std=c++17)add_dependencies(${PROJECT_NAME}_unique_ptr_test test_plugins)endif()endif()
编译安装ROS noetic和ros_test
cd ~/ros_noetic_base_2204/catkin_pkg && python3 setup.py install
cd ~/ros_noetic_base_2204/rospkg && python3 setup.py install
cd ~/ros_noetic_base_2204/catkin_ws
./src/catkin/bin/catkin_make install \-DCMAKE_BUILD_TYPE=Release \-DPYTHON_EXECUTABLE=/usr/bin/python3./src/catkin/bin/catkin_make install \-DCMAKE_BUILD_TYPE=Release \-DPYTHON_EXECUTABLE=/usr/bin/python3 \run_tests
验证
重新打开一个终端，输入如下命令验证。
source ~/ros_noetic_base_2204/catkin_ws/devel/setup.bash
roscore
- 重新安装依赖包
由于按照参考链接1搭建的环境没有tf等库，经过再次查找找到了参考链接2，于是重新按照依赖包，其中已经安装过的就跳过了，命令如下：
sudo apt install libboost-all-dev libconsole-bridge-dev libpoco-dev libtinyxml-dev libtinyxml2-dev libbz2-dev liblz4-dev liblog4cxx-dev libgpgme-dev libgtest-dev uuid-dev sip-dev qtbase5-dev pyqt5-dev pyqt5-dev-tools libcurl4-openssl-dev libeigen3-dev liborocos-kdl-dev libtf2-bullet-dev liburdfdom-headers-dev liburdfdom-tools liburdfdom-dev libyaml-cpp-dev libopencv-dev libassimp-dev libogre-1.9-dev ogre-1.9-tools python3-nose python3-pycryptodome python3-defusedxml python3-mock python3-netifaces python3-gnupg python3-numpy python3-psutil python3-catkin-pkg python3-rospkg python3-pip python3-setuptools python3-empy
参考：
1.Building ROS Noetic on Ubuntu 22.04
2.Install ROS Noetic Desktop from Source on Ubuntu 22.04
3.ROS官网源码安装
