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  • 1.win10安装ros2_dashing可参考官方网站提供的安装方法https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary/ 2.在下载安装的时候会很慢,我这边都是在早上的时候安装会比较快,opencv和...

    1.win10安装ros2_dashing可参考官方网站提供的安装方法https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary/

    2.在下载安装的时候会很慢,我这边都是在早上的时候安装会比较快,opencv和ros2包我是提取官方文档中的下载链接到迅雷中下载,不过也只有早上的时候下载比较快

    3.安装下面五个

    • asio.1.12.1.nupkg

    • cunit.2.1.3.nupkg

    • eigen-3.3.4.nupkg

    • tinyxml-usestl.2.6.2.nupkg

    • tinyxml2.6.0.0.nupkg

    • log4cxx.0.10.0.nupkg 

    把这五个文件放到一起,在运行

    choco install -y -s <PATH\TO\DOWNLOADS\> asio cunit eigen tinyxml-usestl tinyxml2 log4cxx

    的时候,需要把<PATH\TO\DOWNLOADS\>这个替换你放上面五个文件的路径,注意要把<>删掉

    4.在用pip安装一些依赖的时候可能会很慢,可以用清华的镜像源https://mirrors.tuna.tsinghua.edu.cn/help/pypi/

    官方的安装方法是

    python -m pip install -U catkin_pkg empy lark-parser lxml numpy opencv-python pyparsing pyyaml setuptools

    可以替换为

    pip install -i https://pypi.tuna.tsinghua.edu.cn/simple catkin_pkg empy lark-parser lxml numpy opencv-python pyparsing pyyaml setuptools

    5.在验证是否安装成功,运行示例的时候,先把终端关了在重新开,在运行示例。打开终端一定要运行下

    call C:\dev\ros2_dashing\local_setup.bat

    运行后可能会出现

    [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[C:\Program Files\rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
    [opensplice_cmake_module] Warning: The location at which OpenSplice was found when the workspace was built [[C:\opensplice\HDE\x86_64.win64\]] does not point to a valid directory, and the OSPL_HOME environment variable has not been set. Support for OpenSplice will not be available.

    暂时没有发现对后面功能有什么影响,可以先不管

     

    6.以上终端打开都已管理员身份运行

     

    展开全文
  • 1 windows 下安装ros2-dashing 1.1 下载安装软件Chocolatey Chocolatey is a package manager for Windows, install it by following their installation instructions: https://chocolatey.org/ You’ll use ...

    1 windows 下安装ros2-dashing

    1.1 下载安装软件Chocolatey

    Chocolatey is a package manager for Windows, install it by following their installation instructions:

    https://chocolatey.org/

    You’ll use Chocolatey to install some other developer tools.

    #安装windows软件包工具 choco, 管理员身份打开cmd执行如下指令安装
    
    @"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"
    
    

    在这里插入图片描述

    # 创客智造网站
    https://www.ncnynl.com/archives/201801/2254.html
    
    # ros2view 网站,关于windows安装ros2-dashing版本
    https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary/
    
    

    1.2 安装 ROS 2 on Windows

    # win10操作系统 才支持ros2
    As of beta-2 only Windows 10 is supported.  
    

    1.3 安装 Python

    Open a Command Prompt and type the following to install Python via Chocolatey:

    > choco install -y python --version 3.7.5   
    
    #注意python版本一定不能错,如果命令行下载不下来,可去python官网下载.否则会出现莫名其妙错误,我开始下载
    #python3.8 运行ros2 出现 failed to create process 错误.
    # https://www.python.org/downloads/windows/
    

    1.4 安装 Visual C++ Redistributables

    Open a Command Prompt and type the following to install them via Chocolatey:

    > choco install -y vcredist2013 vcredist140
    

    1.5 Install OpenSSL

    # https://slproweb.com/products/Win32OpenSSL.html  下载openssl
    

    Download the Win64 OpenSSL v1.0.2u OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.0.2u. Don’t download the Win32 or Light versions or version 1.1.0 or newer.

    Run the installer with default parameters. The following commands assume you used the default installation directory:

    • setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

    You will need to append the OpenSSL-Win64 bin folder to your PATH. You can do this by clicking the Windows icon, typing “Environment Variables”, then clicking on “Edit the system environment variables”. In the resulting dialog, click “Environment Variables”, then click “Path” on the bottom pane, finally click “Edit” and add the path below.

    • C:\OpenSSL-Win64\bin\

    1.6 Install Visual Studio

    Install Visual Studio 2019.

    If you already have a paid version of Visual Studio 2019 (Professional, Enterprise), skip this step.

    Microsoft provides a free of charge version of Visual Studio 2019, named Community, which can be used to build applications that use ROS 2:

    https://visualstudio.microsoft.com/downloads/

    Make sure that the Visual C++ features are installed.

    An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.

    [外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-Gyj6go6I-1596417333380)(https://i.imgur.com/2h0IxCk.png)]

    Make sure that no C++ CMake tools are installed by unselecting them in the list of components to be installed.

    1.7 Install additional DDS implementations (optional)

    If you would like to use another DDS or RTPS vendor besides the default, eProsima’s Fast RTPS, you can find instructions here.

    可选安装 默认自带有dds
    安装dds
    
    set "NDDSHOME=C:\Program Files\rti_connext_dds-5.3.1"
    

    1.8 Install OpenCV

    Some of the examples require OpenCV to be installed.

    You can download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .

    Assuming you unpacked it to C:\opencv, type the following on a Command Prompt (requires Admin privileges):

    setx -m OpenCV_DIR C:\opencv
    

    Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend the PATH variable to C:\opencv\x64\vc16\bin.

    1.9 Install dependencies

    There are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.

    As some chocolatey packages rely on it, we start by installing CMake

    > choco install -y cmake
    
    # 如果已经安装完毕,可跳过. cmake version 3.16.4  我当前系统安装cmake版本.
    

    You will need to append the CMake bin folder C:\Program Files\CMake\bin to your PATH.

    Please download these packages from this GitHub repository.

    • asio.1.12.1.nupkg
    • cunit.2.1.3.nupkg
    • eigen-3.3.4.nupkg
    • tinyxml-usestl.2.6.2.nupkg
    • tinyxml2.6.0.0.nupkg
    • log4cxx.0.10.0.nupkg

    Once these packages are downloaded, open an administrative shell and execute the following command:

    > choco install -y -s <PATH\TO\DOWNLOADS\> asio cunit eigen tinyxml-usestl tinyxml2 log4cxx
    
    # <PATH\TO\DOWNLOADS\> 代表的是本地下载二进制文件的存储路径
    # 上述命令即是本地安装
    

    Please replace `` with the folder you downloaded the packages to.

    You must also install some python dependencies for command-line tools:

    python -m pip install -U catkin_pkg empy lark-parser lxml numpy opencv-python pyparsing pyyaml setuptools
    

    RQt dependencies

    python -m pip install -U pydot PyQt5
    

    1.10 Downloading ROS 2

    • Go the releases page: https://github.com/ros2/ros2/releases
    • Download the latest package for Windows, e.g., ros2-dashing-*-windows-AMD64.zip.

    Note

    There may be more than one binary download option which might cause the file name to differ.

    Note

    To download the ROS 2 debug libraries you’ll need to download ros2-dashing-*-windows-debug-AMD64.zip

    • Unpack the zip file somewhere (we’ll assume C:\dev\ros2_dashing).

    1.11 Environment setup

    Start a command shell and source the ROS 2 setup file to set up the workspace:

    > call C:\dev\ros2_dashing\local_setup.bat
    

    It is normal that the previous command, if nothing else went wrong, outputs “The system cannot find the path specified.” exactly once.

    1.12 Try some examples

    In a command shell, set up the ROS 2 environment as described above and then run a C++ talker:

    > ros2 run demo_nodes_cpp talker
    

    Start another command shell and run a Python listener:

    > ros2 run demo_nodes_py listener
    

    You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

    See the tutorials and demos for other things to try.

    1.13 Build your own packages

    If you would like to build your own packages, refer to the tutorial “Using Colcon to build packages”.

    1.14 Uninstall

    1. If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s setup file. This way, your environment will behave as though there is no Dashing install on your system.

    2. If you’re also trying to free up space, you can delete the entire workspace directory with:

      rmdir /s /q \ros2_dashing
      

    //创客智造网站,关于ros2在win10上安装.

    https://www.ncnynl.com/archives/201801/2254.html

    1.15 补充一下

    在这里插入图片描述

    在这里插入图片描述

    展开全文
  • Win10安装ROS

    千次阅读 2020-03-28 12:53:50
    因为疫情不能开学,因此就在自己的电脑上配置ROS的环境,起因是为了解析 .bag 包,废了好大力气配置好ROS2以后,终于开始处理数据,但是后续发现数据应该是在ROS平台下采集的,在ROS2里面有很大的问题,因此只能再...

    0 前言

    因为疫情不能开学,因此就在自己的电脑上配置ROS的环境,起因是为了解析 .bag 包,废了好大力气配置好ROS2以后,终于开始处理数据,但是后续发现数据应该是在ROS平台下采集的,在ROS2里面有很大的问题,因此只能再配置ROS的环境。

    因为在安装过程中踩了一些坑,所以在这里做一下整理,以后在其他机子上配置可以用到。

    温馨提示:很多软件包在国内下载速度十分感人,甚至经常无法连接,所以有条件的建议架个梯子。

    1.1 目录

    目前ROS在win10上仅支持安装在目录 C:\opt 下,建议至少预留10GB的空间。官网表示不支持更换目录,有想法的人可以试试(2333)。

    1.2 安装 Visual Studio 2019

    一般没有特殊需求安装一个社区版就够用了,可以根据微软官方的教程来:安装VS2019

    其中需要注意的一步是,在选择工作负载时,使用C++的工作开发 是必选的,如下图所示:

    VS2019安装

    其余的可以根据自己的需要添加。然后按照官方的文档完成安装就好了。

    1.3 安装Chocolatey

    Chocolatey 是一个软件包管理器,如果使用过Linux就知道,在Linux里面安装和管理软件基本是通过 apt-get ,而 Chocolatey 就是一个类似的软件。

    • 安装完 VS2019 以后,在开始菜单可以找到 x64 Native Tools Command Prompt for VS 2019:

    在这里插入图片描述

    • 右键点击,再选择”以管理员身份运行“。然后复制以下内容粘贴到命令行:
    @"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"
    
    • 然后一路无脑同意所有选项,安装结束以后重启命令行,输入 choco 验证是否安装成功:

    1.4 安装Git

    同样如上启动一个命令行,输入:

    choco upgrade git -y
    

    安装结束后,如无问题,输入:

    git --version
    

    会显示版本信息。如果出错,检查一下环境变量。
    在这里插入图片描述

    1.5 安装ROS

    简单粗暴的复制以下命令粘贴到命令行:

    mkdir c:\opt\chocolatey
    set ChocolateyInstall=c:\opt\chocolatey
    choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
    choco upgrade ros-melodic-desktop_full -y --execution-timeout=0
    

    过程可能会极其漫长,有些软件包的下载简直是龟速。但是不要着急,慢慢等。
    我遇到一个错误,最后的错误信息如下:

    Starting package 1/1: sdl2:x64-windows
    Building package sdl2[core]:x64-windows...
    Warning: The following VS instances are excluded because the English language pack is unavailable.
        C:\Program Files (x86)\Microsoft Visual Studio\2019\Community
    Please install the English language pack.
    Could not locate a complete toolset.
    The following paths were examined:
        C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Auxiliary\Build\vcvarsall.bat
        C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.26.28801\bin\HostX86\x86\dumpbin.exe
    ERROR: the following rosdeps failed to install
      vcpkg: command [vcpkg install sdl2 --triplet x64-windows] failed
      vcpkg: Failed to detect successful installation of [sdl2]
    ERROR: rosdepInstall.bat failed.
    The upgrade of ros-melodic-desktop_full was NOT successful.
    Error while running 'c:\opt\chocolatey\lib\ros-melodic-desktop_full\tools\chocolateyInstall.ps1'.
     See log for details.
    
    Chocolatey upgraded 0/1 packages. 1 packages failed.
     See the log for details (c:\opt\chocolatey\logs\chocolatey.log).
    
    Failures
     - ros-melodic-desktop_full (exited -1) - Error while running 'c:\opt\chocolatey\lib\ros-melodic-desktop_full\tools\chocolateyInstall.ps1'.
     See log for details.
    

    这是因为安装VS2019时没有安装英语语言包,重新打开VS的安装程序,点击修改,然后在语言那里添加英语,重启一下命令行再重新执行上面的命令。

    1.6 设置快捷启动

    因为每次启动ROS都要还要以管理员运行,还要跑一遍配置脚本,因此可以把这些做成一个快捷方式,省去每次启动的繁琐。

    随便找一个文件夹,在空白处点击右键,选择”新建“,然后选择”快捷方式“,然后输入以下内容:

    C:\Windows\System32\cmd.exe /k "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64&& set ChocolateyInstall=c:\opt\chocolatey&& c:\opt\ros\melodic\x64\setup.bat
    

    其中的 "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools\VsDevCmd.bat" 根据你自己的安装目录和版本来选择。正常应该是这个。

    创建好以后,将快捷方式重命名为 ROS 或者你喜欢的名字,再右键点击,选择”属性“,切换到 ”快捷方式“ 选项卡,再点 ”高级“,如下图:

    属性

    然后选择”用管理员身份运行“:

    在这里插入图片描述

    再保存就好了。

    1.7 升级

    打开上面创建的快捷方式,然后:

    set ChocolateyInstall=c:\opt\chocolatey
    choco upgrade all -y --execution-timeout=0
    

    1.8 卸载

    退出所有的ROS应用,然后直接把 C:\opt 整个目录删掉即可。

    我有遇到一个文件夹怎么删不掉,甚至无权查看拥有者,最后是通过切换用户到 Administrator 才删掉的。

    1.9 无法启动

    我在使用的过程中发现无法启动,明明前面的安装也是没有出错的,一看安装目录才占用了 1GB 多,我意识到可能是安装没有完全,因此就强制重新安装了:

    choco upgrade ros-melodic-desktop_full -y --force --execution-timeout=0
    

    长达1000年的等待以后,发现这次重新安装了很多的包,安装完成以后就正常启动了。

    安装以后的文件夹大概有 7GB 多。
    占用大小

    展开全文
  • win10 安装 ros2.0---ROS Bouncy

    千次阅读 2018-10-24 23:47:41
    win10 安装 ros2.0---ROS Bouncy 参考:https://github.com/ros2/ros2/wiki/Windows-Install-Binary https://blog.csdn.net/weixin_38294178/article/details/78844744 ...

    win10 安装 ros2.0---ROS Bouncy
    参考:https://github.com/ros2/ros2/wiki/Windows-Install-Binary
    https://blog.csdn.net/weixin_38294178/article/details/78844744
    https://blog.csdn.net/ZhangRelay/article/details/82928141

    ps:以下安装包基本可以在 https://github.com/ros2/ros2/wiki/Windows-Install-Binary  里面找到。安装过程有点漫长,一定要有耐心哈~

    1.安装chocolatey
    管理员模式打开cmd,运行下面命令:

    @"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

    2. 用Chocolatey安装python
    choco install -y python 
    此处安装完成后,在c盘下产生python37文件夹。


    3.安装一些依赖项
    choco install -y cmake,在环境变量PATH中添加C:\Program Files\CMake\bin 
    下载文件:asio.1.12.1.nupkg
    eigen-3.3.4.nupkg
    tinyxml-usestl.2.6.2.nupkg
    tinyxml2.6.0.0.nupkg
    安装 choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2   ,这里的路径改为你的下载的文件保存的路径。
    安装 python -m pip install -U catkin_pkg empy pyparsing pyyaml setuptools   ,这里我当时遇到问题,然后好像分别安装成功了。


    4. 安装VS2017
    官网下载vs_community__1296607278.1540285789,选择Microsoft SDKs和C++开发组件。安装完成后悔显示已安装。

     

    5.安装opencv
    下载文件opencv-3.4.1-vc15.VS2017
    解压后安装。我解压到C:\opencv,然后管理员模式打开cmd,运行setx -m OpenCV_DIR C:\opencv
    设置环境变量,PATH 增加 c:\opencv\x64\vc15\bin。


    6.安装OpenSplice
    下载文件PXXX-VortexOpenSplice-6.9.181018OSS-HDE-x86_64.win-vs2017-installer
    解压到C:\dev\opensplice。添加环境变量OSPL_HOME为包含release.bat的路径,我这里为C:\dev\opensplice\HDE\x86_64.win64。

    7.安装RTI Connext
    需要到官网注册一下,然后会给你发一个邮件。然后下载文件rti_connext_dds_secure-5.3.1-eval-x64Win64VS2017
    解压到当前目录,会发现里面包含4个文件。


    具体步骤:

    1),安装rti_connext_dds-5.3.1-eval-<Windows_platform_type>.exe ,
    2),安装到达最后一个界面时,选择start launcher now,然后会弹出一个新窗口,选择“Installation” tab,
    3),右下角有一个安装RTI Security Plugins的图标,点击他,弹出一个新界面,然后选择rti_security_plugins-5.3.1-eval-<platform_type>.rtipkg,
    4),上面完成后,继续安装插件,选择openssl-1.0.2n-5.3.1-host-<platform_type>.rtipkg 。
    5),解压openssl-1.0.2n-target-x64Win64VS2017到c:\rti。
    6),添加环境变量NDDSHOME 为C:\Program Files\rti_connext_dds-5.3.1"

    8.安装ros2.0  ----ROS Bouncy
    下载文件 ros2-package-windows-AMD64.zip
    解压到C:\dev\ros2,然后设置环境,运以以下2个call命令:
    call C:\dev\ros2\local_setup.bat
    这个时候,如果OpenSplice和RTI Connext还没有安装,则会报如下错误:
    [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[C:\Program Files\rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
    [opensplice_cmake_module] Warning: The location at which OpenSplice was found when the workspace was built [[C:\dev\opensplice\HDE\x86_64.win64\]] does not point to a valid directory, and the OSPL_HOME environment variable has not been set. Support for OpenSplice will not be available.
    此时解决办法就是安装OpenSplice和RTI Connext。
    然后call "C:\dev\opensplice\HDE\x86_64.win64\release.bat"

    9.运行demo
    在一个cmd中,call C:\dev\ros2\local_setup.bat
    call "C:\dev\opensplice\HDE\x86_64.win64\release.bat"
    ros2 run demo_nodes_cpp talker

    在另一个cmd中:call C:\dev\ros2\local_setup.bat
    call "C:\dev\opensplice\HDE\x86_64.win64\release.bat"
    ros2 run demo_nodes_py listener

    效果如下:


     

    展开全文
  • 安装OpenSSL时: 成功! 注:以上仅为自己记录,到目前还是没有办法更改chocolatey的安装路径。看着C盘的空间默默发抖。。。
  • windows10 安装ROS2 Dashing

    2020-03-18 11:13:30
    参考页面:...1 系统必须为Win10 2 安装 Chocolatey Choco就是个类似Ubuntu下的APT-GET工具,可以实现win系统下所有安装包的管理。 管理员身份运行powershell 检查Get-Execut...
  • ROS2GO 与WIN10 双系统安装

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