Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/pokusew/ros2-build
Scripts and colcon workspace for building ROS 2 from sources together with additional packages (e.g. Stage simulator)
https://github.com/pokusew/ros2-build
fel fel-project ros ros2
Last synced: 16 days ago
JSON representation
Scripts and colcon workspace for building ROS 2 from sources together with additional packages (e.g. Stage simulator)
- Host: GitHub
- URL: https://github.com/pokusew/ros2-build
- Owner: pokusew
- Created: 2021-04-22T13:24:22.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-06-16T19:36:48.000Z (over 1 year ago)
- Last Synced: 2024-04-21T13:54:10.930Z (9 months ago)
- Topics: fel, fel-project, ros, ros2
- Language: Makefile
- Homepage:
- Size: 38.1 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# ros2-build
This a ROS 2 workspace for building ROS 2 together with additional packages from sources.
**🚧 NOTE:** This documentation will be improved. See
also [my notes on Building ROS 2 on NVIDIA Jetson TX2][jetson-tx2-ros2-build-notes]
(some parts will be merged here in the future).
## Usage
The project is a normal [colcon workspace][colcon-workspace]. But it contains a [Makefile](./Makefile)
to **automate** **cloning** the sources (using [vcstool]),
**patching** the sources and **building** and **cleaning** the workspace.
### Requirements
* [vcstool]
* colcon and ROS 2 tools as described [here][ros2-tools-setup]
### Workflow
1. `make init`
2. Obtain ROS 2 sources _(skip if you don't want to build ROS 2 from sources)_:
```bash
# replace with distro name: master (for rolling), humble, galactic, foxy, etc.
make distro=galactic clone-ros
```
_Note:_ The make rule is merely a shortcut
for `vcs import src --input https://raw.githubusercontent.com/ros2/ros2//ros2.repos` that also automatically
creates `src` directory if it does not exist.
3. Obtain the sources of packages you want to build _(together with ROS 2)_:
* CTU's F1Tenth
* (rolling, humble) `make clone-auto-additional` – additional packages when ROS 2 apt binary packages are not
available or ROS 2 is built from sources
* (galactic) `make clone-auto-additional.galactic` – additional packages when ROS 2 apt binary packages are not
available or ROS 2 is built from sources
* Stage simulator
* `make clone-stage-additional` – additional packages when ROS 2 apt binary packages are not available or ROS 2
is built from sources
4. Build the workspace using `colcon`. You can also use the following shortcuts:
* `make build`
* `make build-no-db`
* `make build-merge-install`
* `make clean`
See the [Makefile](./Makefile) for detailed info.
### stage
Here are described some additional dependencies that needs to be installed when building _stage_ packages:
* on macOS:
* TODO
* on Ubuntu 20.04:
* assuming that build tools like cmake and build-essentials are already installed
* these are already present: `libgl1-mesa-dev libglu1-mesa-dev libpng12-dev libtool` (`libpng16` also works)
* `sudo apt install libfltk1.1-dev`
* on NVIDIA Jetson TX2 Jetpack 4.5.x (L4T 32.5.x) (Ubuntu 18.04):
* `sudo apt install libfltk1.1-dev libjpeg-dev`
### stage-additional
Here are described some additional dependencies that needs to be installed when building _stage-additional_ packages:
* on macOS:
**TODO: Update notes for Galactic**
**Foxy: If you are on macOS < 10.15, see [pluginlib build on macOS < 10.15](./patches/pluginlib-macOS-10.14.md).**
_TODO: Foxy: Document adapting brew's boost-python3 formula for Python 3.8_
* on NVIDIA Jetson TX2 Jetpack 4.5.x (L4T 32.5.x) (Ubuntu 18.04):
Run:
```bash
rosdep check -i --from-path src --skip-keys 'stage'
```
Expected output:
```
apt libboost-python-dev
apt libboost-python1.65.1
apt python3-opencv
```
Then install the missing dependencies using:
```bash
rosdep install -i --from-path src --skip-keys 'stage'
```
## Notes
### `stage` build warning
TODO: Can we use GLVND for OpenGL and GLX for `stage` package build?
```
--- stderr: stage
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message):
Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
available. Run "cmake --help-policy CMP0072" for policy details. Use the
cmake_policy command to set the policy and suppress this warning.
FindOpenGL found both a legacy GL library:
OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so
and GLVND libraries for OpenGL and GLX:
OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so
OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
/usr/share/cmake-3.16/Modules/FindFLTK.cmake:83 (find_package)
CMakeLists.txt:100 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
---
```
[jetson-tx2-ros2-build-notes]: https://github.com/pokusew/ros-setup/blob/main/nvidia-jetson-tx2/SETUP.md#install-ros-2
[ros2-tools-setup]: https://docs.ros.org/en/galactic/Installation/Alternatives/Ubuntu-Development-Setup.html#system-setup
[colcon]: https://colcon.readthedocs.io/
[colcon-workspace]: https://colcon.readthedocs.io/en/released/user/what-is-a-workspace.html
[vcstool]: https://github.com/dirk-thomas/vcstool