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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
  • 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\...

    按照官网说明以源码编译形式安装ROS2

    https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Install-Binary/#foxy-windows-install-binary-installing-prerequisites

    https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Development-Setup/

    一,安装Chocolatey

    1. 以管理员模式打开PowerShell
    2. 执行Get-ExecutionPolicy,如果显示Restricted,则执行Set-ExecutionPolicy AllSigned

    2,安装Chocolatey,CMD中执行如下内容

    Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))

    2,安装Python3.8注意不指定版本可能会下载python3.9,到后面执行ros2时会报错"failed to create process"

    choco install -y python --version 3.8.3

    3,安装OpenSSL,打开如下链接 https://slproweb.com/products/Win32OpenSSL.html

    选择下载Win64 OpenSSL v1.1.1h的EXE文件,安装到目录C:\OpenSSL-Win64下。添加新的环境变量OPENSSL_CONF内容为C:\OpenSSL-Win64\bin\openssl.cfg

    在环境变量Path中加入C:\OpenSSL-Win64\bin\

    4,安装visual studio,在安装ROS2前,我电脑已经安装了vs2019

    5,安装Adlink OpenSplice

    打开链接https://github.com/ADLINK-IST/opensplice/releases,下载PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.win-vs2019-installer.zip

    解压下载文件,并添加名为OSPL_HOME的系统环境变量,其值为release.bat文件所在的路径。

    6,安装RTI Connext,要注册账号邮箱验证

    打开链接https://www.rti.com/free-trial/dds-files,下载跟电脑环境匹配的文件,然后安装

    添加名为NDDSHOME的环境变量,值为C:\rti_connext_dds-6.0.1,即安装目录,不要安装在带空格如Program Files或带中文的路径下

    7,安装cmake

    choco install -y cmake

    在环境变量Path中添加路径C:\Program Files\CMake\bin

    8,打开链接https://github.com/ros2/choco-packages/releases/tag/2020-02-24

    下载下面四个文件:

    asio.1.12.1.nupkg

    eigen-3.3.4.nupkg

    tinyxml-usestl.2.6.2.nupkg

    tinyxml2.6.0.0.nupkg

    然后执行

    choco install -y -s  E:\ros2tmp asio eigen tinyxml-usestl tinyxml2

    其中E:\ros2tmp是存储这四个文件的目录

    9,安装python的依赖

    python -m pip install -U catkin_pkg cryptography empy ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools
    python -m pip install -U pydot PyQt5

    10,安装graphviz

    choco install graphviz

    11,安装ROS2

    打开链接https://github.com/ros2/ros2/releases,下载文件ros2-foxy-20201009-windows-release-amd64.zip,根据实际环境选择要下载的文件

    解压到C:\dev目录下,将文件夹名称改为ros2

    执行如下命令

    call C:\dev\ros2\local_setup.bat
    call D:\VortexOpenSplice\HDE\x86_64.win64\release.bat
    

    其中D:\VortexOpenSplice是前面安装的Adlink OpenSplice的目录

    12,验证ROS2,打开两个CMD,分别执行

    ros2 run demo_nodes_cpp talker

    ros2 run demo_nodes_py listener

    13)QT5 问题,ros-foxy中rviz_default_plugins默认的qt版本为5.12.0,且安装位置为C:/Qt/5.12.10/msvc2017_64

    展开全文
  • 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。 ...

    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。

    •   管理员身份运行powershell
    •  检查 Get-ExecutionPolicy 为 not Restricted。 
    • powershell 中 运行 Get-ExecutionPolicy,如果返回Restricted, 则运行 Set-ExecutionPolicy AllSigned解除操作限制即可。
    • 执行安装:
      Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))
      安装完毕,未出现错误就OK。
    • 检查安装。运行 choco,返回
      PS C:\WINDOWS\system32> choco
      Chocolatey v0.10.15
      Please run 'choco -?' or 'choco <command> -?' for help menu.

      OK。

    • 常用指令:choco install -y <pkg>   

    3 安装python 3.7.5

     choco install -y python --version 3.7.5

     4 安装VC++依赖

     choco install -y vcredist2013 vcredist140

    5 安装Openssl

       开源的ssl通信工具,用于生成证书。版本:Win64 OpenSSL v1.0.2u

      下载: 链接:https://pan.baidu.com/s/1X_fPNBc5mZ8hxJJskSOu4Q 
                提取码:4pbi 
      执行安装程序后,如果是默认路径。执行

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

    加入环境变量,系统属性-高级-环境变量,下面Path中边界,新增路径 C:\OpenSSL-Win64\bin\ 确定即可。

    6 安装Visual Studio

    安装vs2019 社区版 不要钱

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

    至少安装 Desktop development with C++ 

    安装后需重启

    7 安装OPenCV3.4.6

    https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .

    或 

    链接:https://pan.baidu.com/s/1ItOOGuP9ep8fAto0O2eolQ 
    提取码:7pf9

    下载解压至 C:\opencv

    管理员身份运行cmd,执行命令

    setx -m OpenCV_DIR C:\opencv

    同样添加环境变量PATH  C:\opencv\x64\vc16\bin

    8 安装CMAKE

    choco install -y cmake

    安装完毕后,同样添加环境变量PATH  C:\Program Files\CMake\bin

    9 安装nupkg支持包

    从这个目录https://github.com/ros2/choco-packages/releases/latest 下载

    • 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

    下载完毕后,管理员身份运行powershell或CMD

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

    安装python三方库

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

    安装RQT依赖

    python -m pip install -U pydot PyQt5

    10 安装ROS2

    https://github.com/ros2/ros2/releases 从该连接下载 ros2-dashing-*-windows-AMD64.zip 注意不下载Debug版

    解压到C:\dev

    windows下的Source,在命令行窗口中执行

    > call C:\dev\ros2-windows\local_setup.bat

    11 至此安装完成,可以进行test

    一个窗口 ros2 run demo_nodes_cpp talker
    另一个窗口 ros2 run demo_nodes_py listener

    12 安装VS code 及ros extension 

    官网 或百度云盘

     链接:https://pan.baidu.com/s/1MFXpvL5aSaO2T59mUUZBDA 
    提取码:7l7m 

    安装完后打开,最下面图标打开extensions界面,搜索栏输入ROS,安装第一个即可

    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
  • ROS2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 ...
  • 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...
  • 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:...
  • Windows系统安装使用ROS1Melodic和ROS2Dashing机器人操作系统的教程将逐步更新。 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:...
  • 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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