Ubunutu22.04安装ros1的一些流程和错误解决
其实x86版本的网络上还是有一堆一键安装脚本的，但是我遇到了必须使用arm的场景
Ubunutu22.04安装ros1（arm版本）
ubuntu22.04如何安装ros1 为了避免墙的问题，建议直接开全局代理或者用户代理
添加ros源 由于ROS1官网不支持，因此只能添加ROS2的源
1 2 3 4 5 sudo apt update && sudo apt install curl sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null sudo apt update
安装编译依赖 1 2 3 sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential sudo pip3 install -U rosdep rosinstall_generator vcstool sudo pip3 install --upgrade setuptools
新建catkin workspace 1 2 mkdir ~/ros_catkin_wscd ~/ros_catkin_ws
拉取ROS Noetic源码 1 2 3 rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall mkdir ./srcvcs import --input noetic-desktop.rosinstall ./src
这里的第一步容易遇到拒绝访问的报错，所以还是尽快开代理就好了，第三步也容易被墙，代理！！！！！
手动安装ROS Noetic依赖 1 sudo apt install libboost-all-dev uuid-dev python3-nose google-mock libgtest-dev libbz2-dev libgpgme-dev libssl-dev python3-coverage libboost-program-options-dev python3-psutil python3-opengl python3-pygraphviz python3-pydot qt5-qmake sbcl libapr1-dev libaprutil1-dev libboost-regex-dev liblog4cxx-dev python3-matplotlib libpyside2-dev libshiboken2-dev pyqt5-dev python3-pyqt5 python3-pyqt5.qtsvg python3-pyside2.qtsvg python3-sip-dev shiboken2 lm-sensors graphviz python3-paramiko python3-pycryptodome python3-gnupg python3-defusedxml python3-pyqt5.qtopengl libcurl4-openssl-dev libpoco-dev libogre-1.9-dev libassimp-dev libogre-1.9.0v5 libyaml-cpp-dev libgl1-mesa-dev libglu1-mesa-dev libqt5opengl5 libqt5opengl5-dev libopencv-dev python3-opencv python3-pykdl tango-icon-theme liborocos-kdl-dev libtinyxml-dev libtinyxml2-dev liburdfdom-headers-dev python3-numpy python3-empy libboost-filesystem-dev libboost-thread-dev python3-pygraphviz python3-pygraphviz python3-mock libboost-date-time-dev libboost-system-dev liburdfdom-dev libboost-chrono-dev libboost-dev libqt5core5a libqt5gui5 libqt5widgets5 qtbase5-dev libconsole-bridge-dev liblz4-dev python3-pyqt5.qtwebkit exfatprogs
遇到冲突就一个一个解决吧
编译（终于，这里会遇到非常非常多的问题！） 编译 编译命令：
1 ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
这里会编译184个包，如果编译成功第6点后面就不用看了。
错误解决
这个是setuptools版本的问题
解决方法：下载64版本
1 pip install setuptools==64
还有可能会遇到与ros2环境冲突问题
解决方法：卸载ros2的环境变量
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 Errors << rosconsole:make /home/youliang/ros_ws/build/catkin_ws/logs/rosconsole/build.make.002.log /home/youliang/ros_ws/build/catkin_ws/src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp: In function ‘void ros::console::impl::initialize()’: /home/youliang/ros_ws/build/catkin_ws/src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp:169:23: error: cannot convert ‘ros::console::impl::ROSConsoleStdioAppender*’ to ‘log4cxx::AppenderPtr’ {aka ‘std::shared_ptr<log4cxx::Appender>’} 169 | logger->addAppender(new ROSConsoleStdioAppender); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ | | | ros::console::impl::ROSConsoleStdioAppender* In file included from /usr/include/log4cxx/spi/loggingevent.h:28, from /usr/include/log4cxx/layout.h:29, from /usr/include/log4cxx/appenderskeleton.h:28, from /home/youliang/ros_ws/build/catkin_ws/src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp:42: /usr/include/log4cxx/logger.h:144:60: note: initializing argument 1 of ‘virtual void log4cxx::Logger::addAppender(log4cxx::AppenderPtr)’ 144 | virtual void addAppender(const AppenderPtr newAppender); | ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~ /home/youliang/ros_ws/build/catkin_ws/src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp: In function ‘void* ros::console::impl::getHandle(const string&)’: /home/youliang/ros_ws/build/catkin_ws/src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp:203:36: error: cannot convert ‘log4cxx::LoggerPtr’ {aka ‘std::shared_ptr<log4cxx::Logger>’} to ‘void*’ in return 203 | return log4cxx::Logger::getLogger(name); | ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~ | |
解决方法：将src目录下面的rosconsole更新成concise_output_roso分支
从GitHub - lucasw/rosconsole https://github.com/lucasw/rosconsole 拉取rosconsole的源码，切到concise_output_roso分支，覆盖到~/ros_catkin_ws/src下。
1 2 3 git clone -b concise_output_roso https://github.com/lucasw/rosconsole.git rm -rf src/rosconsolemv rosconsole src
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 make[2]: *** [CMakeFiles/tf.dir/build.make:118: CMakeFiles/tf.dir/src/transform_listener.cpp.o] Error 1 In file included from /usr/include/log4cxx/log4cxx.h:45, from /usr/include/log4cxx/logstring.h:28, from /usr/include/log4cxx/level.h:22, from /opt/ros/noetic/include/ros/console.h:46, from /opt/ros/noetic/include/ros/ros.h:40, from /tmp/makepkg/ros-noetic-tf/src/geometry-1.13.2/tf/src/transform_broadcaster.cpp:34: /usr/include/log4cxx/boost-std-configuration.h:10:18: error: ‘shared_mutex’ in namespace ‘std’ does not name a type 10 | typedef std::shared_mutex shared_mutex; | ^~~~~~~~~~~~ /usr/include/log4cxx/boost-std-configuration.h:10:13: note: ‘std::shared_mutex’ is only available from C++17 onwards 10 | typedef std::shared_mutex shared_mutex; | ^~~ /usr/include/log4cxx/boost-std-configuration.h:12:30: error: ‘shared_lock’ in namespace ‘std’ does not name a template type 12 | using shared_lock = std::shared_lock<T>; | ^~~~~~~~~~~ /usr/include/log4cxx/boost-std-configuration.h:12:25: note: ‘std::shared_lock’ is only available from C++14 onwards 12 | using shared_lock = std::shared_lock<T>; | ^~~ In file included from /opt/ros/noetic/include/ros/console.h:46, from /opt/ros/noetic/include/ros/ros.h:40, from /tmp/makepkg/ros-noetic-tf/src/geometry-1.13.2/tf/src/transform_broadcaster.cpp:34: /usr/include/log4cxx/level.h:283:29: error: ‘mutex’ in namespace ‘std’ does not name a type 283 | static std::mutex initMutex; | ^~~~~ /usr/include/log4cxx/level.h:25:1: note: ‘std::mutex’ is defined in header ‘<mutex>’; did you forget to ‘#include <mutex>’? 24 | #include <log4cxx/helpers/object.h> +++ |+#include <mutex> 25 |
解决方法：
1 2 #define STD_SHARED_MUTEX_FOUND 1 #define Boost_SHARED_MUTEX_FOUND 0
为
1 2 #define STD_SHARED_MUTEX_FOUND 0 #define Boost_SHARED_MUTEX_FOUND 1
编译此包易出现找不到genmsg模块的报错，实际上我没有找到真正的原因
如果出现，请尝试商储缓存重新编译，获将一开始的流程重新来一遍
容易出现boost的版本冲突问题，原因在于我装了conda，conda里的cmake包带了boost是1.82的，和ros的1.74冲突了
解决方法
删除conda里面包含boost的包即可，注意刷新一下conda环境
source环境变量就可以用了 1 source ~/ros_catkin_ws/install_isolated/setup.bash
可以输入roscore启动master节点测试是否成功（没报红应该就没问题了）
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