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ros_melodic_setup.txt
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ros_melodic_setup.txt
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# Commands for installing ROS on Raspberry Pi.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
sudo apt-get install -y python-catkin-tools python-rospkg
sudo rosdep init
rosdep update
mkdir -p ~/ros_install_ws
cd ~/ros_install_ws
rosinstall_generator ros_comm --rosdistro melodic --deps --wet-only > melodic-ros_comm-wet.rosinstall
wstool init src melodic-ros_comm-wet.rosinstall
# Install system dependencies to ros_comm.
rosdep install -y --from-paths ~/ros_install_ws/src --ignore-src --rosdistro melodic -r --os=debian:buster
# Build bare-bones ROS into install space.
# Can run out of memory even with -j2 flag. Running the command again should solve it.
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2
# Add installation path to global environment.
source /opt/ros/melodic/setup.bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
###
# Now bare-bones ROS is installed. What follows is installing our custom packages.
###
# Create seperate workspace with your custom packages. Example using git clone.
mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone <link-to-git-repo>
# Move back to ros_install_ws before generating dependencies.
cd ~/ros_install_ws
# Will warn about non-ROS dependencies e.g. "packages/stacks will be ignored: python-smbus". They will be resolved by 'rosdep install'-command later.
rosinstall_generator $(rosdep keys --from-paths ~/ros_ws/src --ignore-src) --rosdistro melodic --deps --wet-only > melodic-pet_mk_iv-deps.rosinstall
wstool merge -t src melodic-pet_mk_iv-deps.rosinstall
wstool update -t src
# Install system dependencies to dependencies to custom packages.
rosdep install -y --from-paths ~/ros_install_ws/src --ignore-src --rosdistro melodic -r --os=debian:buster
# Build dependencies to custom packages into install space.
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2
# Is sourcing again needed?
source /opt/ros/melodic/setup.bash
# Install system dependencies to custom packages.
rosdep install -y --from-paths ~/ros_ws/src --ignore-src --rosdistro melodic -r --os=debian:buster
# Build custom packages locally.
cd ~/ros_ws
catkin_make_isolated
# Add built custom packages to global environment.
source ~/ros_ws/devel_isolated/setup.bash
echo "source ~/ros_ws/devel_isolated/setup.bash" >> ~/.bashrc