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  • ROS2入门教程-windows安装ROS2 ROS2入门教程-windows安装ROS2 说明: 介绍怎么在视窗系统下安装ROS2 系统要求 建议使用win 10系统 安装ROS2的前提准备 1.安装的巧克力 Chocolatey的相关...

    ROS2入门教程-windows安装ROS2

    ROS2入门教程-windows安装ROS2

    说明:

    • 介绍怎么在视窗系统下安装ROS2

    系统要求

    • 建议使用win 10系统

    安装ROS2的前提准备

    • 1.安装的巧克力

    • Chocolatey的相关下载链接:https//chocolatey.org/

    • 2.通过Chocolatey安装Python

    • 打开命令提示符,然后键入下面的命令:

    choco install -y python
    
    • 3.安装OpenSSL

    • 从下面提供的链接下载OpenSSL安装程序。请下载Win64 OpenSSL v1.0.2,不要下载Win32或者Light版本。

    • OpenSSL的相关链接:https//slproweb.com/products/Win32OpenSSL.html

    • 使用默认参数运行安装程序。然后,定义环境变量(下面的命令假定使用了默认安装目录):

    setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
    
    #Add C:\OpenSSL-Win64\bin\ to your PATH
    

    请输入图片描述
    请输入图片描述
    请输入图片描述

    • 7.安装依赖项

    • 请从这个GitHub存储库下载这些软件包。

      • asio.1.10.6.nupkg

      • 本征3.3.3.nupkg

      • TinyXML的-usestl.2.6.2.nupkg

      • tinyxml2.4.1.0.nupkg

    • 下载完成后,执行以下命令:

    choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2
    
    # <PATH\TO\DOWNLOADS>为已下载软件包的文件夹的对应路径
    
    • 您还必须安装pip一个python包,yaml
    python -m pip install -U pyyaml setuptools
    

    下载ROS2

    • ROS2的相关下载链接:https//github.com/ros2/ros2/releases

    • 下载适用于Windows的最新软件包,例如ros2-package-windows-AMD64.zip

      • 注意:可能有多个二进制下载选项可能导致文件名不同。
    • 解压缩zip文件(我们假设C:\dev\ros2)。

    设置ROS2的环境

    • 执行以下命令以及source RO2的配置文件来设置工作空间
    call C:\dev\ros2\local_setup.bat
    
    • 如果您下载了具有OpenSplice支持的版本并希望将其用作中间件,则必须另外获取OpenSplice安装文件。只有这样after你才能获得ROS 2:
    call "C:\opensplice67\HDE\x86_64.win64\release.bat"
    

    试试一些例子

    • 打开一个终端,执行以下命令:
    ros2 run demo_nodes_cpp talker
    
    • 打开一个新终端,执行以下命令:
    ros2 run demo_nodes_py listener
    
    • 运行结果图如下:

    请输入图片描述

    排除故障

    • 如果不能运行例子且出现缺少dll的报错,请检查前面安装的外部依赖的所有的库,例如:OpenCV的PATH环境变量是否设置正确

    • 如果前面在设置时忘记执行call C:\dev\ros2\local_setup.bat命令,则可能无法运行演示

    参考链接

     

    Installing ROS 2 on Windows

    This page explains how to install ROS 2 on Windows from a pre-built binary package.

    System requirements

    As of beta-2 only Windows 10 is supported.

    Installing prerequisites

    Install 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.

    Install Python

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

    > choco install -y python
    

    Install OpenSSL

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

    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\

    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:

    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.

    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.

    Install additional DDS implementations (optional)

    ROS 2 builds on top of DDS. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.

    The package you downloaded has been built with optional support for multiple vendors: eProsima FastRTPS, Adlink OpenSplice, and RTI Connext as the middleware options. Run-time support for eProsima’s Fast RTPS is included bundled by default. If you would like to use one of the other vendors you will need to install their software separately.

    RTI Connext

    To use RTI Connext DDS there are options available for university, purchase or evaluation

    After installing, run RTI launcher and point it to your license file.

    Set the NDDSHOME environment variable:

    set "NDDSHOME=C:\Program Files\rti_connext_dds-5.3.1"
    

    If you want to install the Connext DDS-Security plugins please refer to this page.

    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.

    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
    

    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

    • 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 eigen tinyxml-usestl tinyxml2 log4cxx
    

    Please replace <PATH\TO\DOWNLOADS> 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
    

    Downloading ROS 2

    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).

    Set up the ROS 2 environment

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

    > call C:\dev\ros2\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.

    Try some examples

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

    > ros2 run demo_nodes_cpp talker
    

    Start another command shell and run a listener:

    > ros2 run demo_nodes_py listener
    

    You should see the talker saying that it’s Publishing messages and the listener saying heardthose messages. Hooray!

    If you have installed support for an optional vendor, see this page for details on how to use that vendor.

    Troubleshooting

    • If at one point your example would not start because of missing dll’s, please verify that all libraries from external dependencies such as OpenCV are located inside your PATH variable.

    • If you forget to call the local_setup.bat file from your terminal, the demo programs will most likely crash immediately.

    • If you see an error related with FastRTPS failing to be loaded, see troubleshooting section in development install instructions.

    Build your own packages

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

    转载于:https://www.cnblogs.com/wdzeng/p/11426722.html

    展开全文
  • 安装ROS set ChocolateyInstall=d:\ choco source add -n=ros-win -s="https://aka.ms/ros/public" -- priority=1 choco find ros- 选择对应版本安装,有dashing,melodic和neotic。我选了melodic。ros-foxy是ros2...

    Windows安装ROS1

    基本环境

    1、C盘有10G左右空间
    2、已经安装Chocolatey

    安装ROS

    set ChocolateyInstall=d:\
    choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
    choco find ros-
    

    在这里插入图片描述
    选择对应版本安装,有dashing,melodic和neotic。我选了melodic。ros-foxy是ros2。

    choco install  ros-melodic-desktop_full -y --execution-timeout=0  
    

    在这里插入图片描述

    安装成功

    新建快捷方式,填写:

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

    注意:

    • "D:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat"与你安装的Visual Studio位置对应。
    • 快捷方式-高级中选择管理员模式启动
      在这里插入图片描述
      随后双击快捷方式即可启动ros环境cmd。

    测试

    开启三个命令行,分别输入:

    roscore
    
    rosrun turtlesim turtlesim_node
    
    rosrun turtlesim turtle_teleop_key.exe
    

    在这里插入图片描述

    RViz测试

    roscore
    rviz
    

    在这里插入图片描述

    参考目录

    ROS探索总结(五十五)—— Windows版ROS安装试用
    尝试在WIN10下使用ROS
    ROS Windows 人机交互软件开发探索与总结一(开发环境搭建及ROS Win10 Qt功能包的编译运行)

    展开全文
  • ![图片说明](https://img-ask.csdn.net/upload/201907/21/1563716665_4666.png) 根据官网教程安装安装的visual studio版本是2019,快捷键出现错误,打开后闪退,求大神帮忙解答
  • Windows WSL安装ROS

    2021-02-27 21:45:52
    ros是一个很大的软件,现在支持windows,以前仅支持linux,没有接触之前可能觉得安装使用很繁琐,其实按照官网的步骤,几个命令复制粘贴一下,比想象中的简单多了,以下是一个简明实用的安装教程及注意事项。...

    1. ROS 的安装

    ros是一个很大的软件,现在支持windows,以前仅支持linux,没有接触之前可能觉得安装使用很繁琐,其实按照官网的步骤,几个命令复制粘贴一下,比想象中的简单多了,以下是一个简明实用的安装教程及注意事项。

    1.1 linux系统准备

    ros最好还是安装在linux系统中,建议最新版的Ubuntu18,如果使用的是windows系统,可以在应用商店中搜索Ubuntu安装最新版(这个功能需要开启windows系统相关功能,百度一下)。

    注意,如果是在windows系统中使用ubuntu wsl,正常是没有GUI,只有一个terminal的,可以按照这个教程(或这里), 下一个xming软件(xming无法正常显示rviz,gazebo,使用VcXsrv,还是不行,使用MobaXterm,国内下载地址),使Ubuntu系统正常显示GUI程序。

    应用商店搜索安装Ubuntu系统


    1.2 安装ROS

    ros的安装按照官网的步骤一步一步来就可以了,参考这里

    几点注意:1)更改linux系统的apt 源镜像为国内的

    2)添加ros的source.list的时候使用国内的清华镜像源,不然慢的怀疑人生

    点击黄色的Mirrors查看添加国内镜像源


    1.3 检查安装成功

    按照官网的教程一步一步,没问题的,跑一下roscore, 没有提示找不到命令就成功了

     

    展开全文
  • windows10 安装 ROS

    2020-07-04 23:40:38
    1,安装choco 以管理员身份运行Powershell: Set-ExecutionPolicyBypass-ScopeProcess-Force;iex((New-ObjectSystem.Net.... 2,安装ros-melodic choco source add -n=ros-win -s="https://roswin.azurewe...

     

    1,安装choco

    以管理员身份运行Powershell:

    Set-ExecutionPolicy Bypass -Scope Process -Force; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))

    2,安装ros-melodic

    • choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
    • choco upgrade ros-melodic-desktop -y

    出现错误:

    choco install ros-melodic-desktop --force

    choco install ros-melodic-desktop 

     

     

     

    展开全文
  • Windows安装ROS系统 请参照以下链接和说明,完成Windows安装ROS系统。 Installation/Windows - ROS Wiki 注意事项: Windows版本:64-bit Windows 10 Desktop 或者 Windows 10 IoT Enterprise 需安装ROS版本:...
  • windows10安装ROS2

    2020-11-28 00:02:22
    官网安装说明:https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Install-Binary/ 以下是我安装成功的步骤 1,以管理员模式打卡CMD 2,安装Chocolatey,CMD中执行如下内容 @"%SystemRoot%\System32\...
  • Windows系统安装使用ROS1Melodic和...安装ROS1和ROS2的资料链接:https://blog.csdn.net/ZhangRelay/article/details/101685013 使用ROS1和ROS2的教程说明:https://blog.csdn.net/ZhangRelay/article/details/101...
  • Windows 10 ROS-Melodic 安装安装 Visual Studio 2019安装Windows 10 包管理工具安装 ROS-Melodic-Desktop创建具有管理员权限的Command Platform for VS Studio 安装 Visual Studio 2019 下载 Visual Studio 2019 ...
  • 在移植之初,读者需要先在Windows系统中安装ROS系统,本教程安装的melodic版本,为 Windows 构建 ROS 项目需要 Visual Studio,这里安装的是 Visual Studio 2017 (Community)。 具体安装过程可以参考以下两个...
  • windows10 安装ROS2 Dashing

    2020-03-18 11:13:30
    参考页面:https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary/ 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。 ...
  • http://wiki.ros.org/Installation/Windows 安装vs2019,只安装“英文语言包”和“C++桌面开发”就可以。 vs2019社区版下载 安装完毕后,开始菜单中,右键 “x64 Native Tools Command Prompt for VS 2019” ,以...
  • Windows开发ROS

    2020-10-17 19:47:06
    ROS Windows 安装安装ROS使用小乌龟测试安装结果使用Visual Studio创建第一个ROS程序 安装ROS 参考下面的链接在Windows安装ROS开发环境 http://wiki.ros.org/Installation/Windows 基本过程是 安装chocolatey ...
  • Windows卸载ros

    2019-09-05 09:50:55
    Windows环境下安装ros网站http://wiki.ros.org/Installation/Windows 卸载ros 1.win+R,cmd打开命令提示符; 2.执行choco list -l命令,查看已安装的ros相关包; 3.执行choco uninstall 包名,将不需要的包依次...
  • ROS2的安装有两种方式 从源码构建 安装二进制包 本次教程使用源码安装 一、安装前提条件 1、安装Chocolatey Chocolatey是Windows的软件包管理器,我们按照官网的说明进行安装。 要求 Windows 7+ / Windows ...
  • 更新了一下win下的ROS,开发课程需要,必须使用最新版本的ROS安装: Noetic Foxy 使用一切正常: 附(安装记录): C:\ros_ws>choco upgrade ros-foxy-desktop -y --execution-timeout=0 ...

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