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ROS各个版本的源码安装方式基本大致相同,
参考网址:
http://wiki.ros.org/Installation/Source
ROS不建议Debian系统通过源码安装，也没有一键安装的方法，http://wiki.ros.org/Installation/Debian
设置repositories 储存库
以下的可能不需要
Debian 的 contrib 和 non-free deb 的储存库
Debian SourcesList
sudo gedit /etc/apt/sources.list
后面追加
deb http://deb.debian.org/debian buster main contrib non-free
deb-src http://deb.debian.org/debian buster main contrib non-free
deb http://deb.debian.org/debian-security/ buster/updates main contrib non-free
deb-src http://deb.debian.org/debian-security/ buster/updates main contrib non-free
deb http://deb.debian.org/debian buster-updates main contrib non-free
deb-src http://deb.debian.org/debian buster-updates main contrib non-free
sudo apt update
sudo apt-upgrade
错误，缺乏 PUBLISH KEY， 19年开始，apt update很多deb都有这种问题。
W: GPG error: http://deb.debian.org/debian buster InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 04EE7237B7D453EC NO_PUBKEY 648ACFD622F3D138 NO_PUBKEY EF0F382A1A7B6500 NO_PUBKEY DCC9EFBF77E11517
E: The repository 'http://deb.debian.org/debian buster InRelease' is not signed.
W: GPG error: http://deb.debian.org/debian-security buster/updates InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY AA8E81B4331F7F50 NO_PUBKEY 112695A0E562B32A
E: The repository 'http://deb.debian.org/debian-security buster/updates InRelease' is not signed.
W: GPG error: http://deb.debian.org/debian buster-updates InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 04EE7237B7D453EC NO_PUBKEY 648ACFD622F3D138
E: The repository 'http://deb.debian.org/debian buster-updates InRelease' is not signed
解决办法
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys KEY
给了几条key，注意key是否与系统匹配，可以使用apt-key del 删除key。
以上的可能不需要
ROS 的储存库
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
不同的key对应不同版本的ROS，
删除key的方式。
apt-key list
pub rsa4096 2019-05-30 [SC] [expires: 2021-05-29]
C1CF 6E31 E6BA DE88 68B1 72B4 F42E D6FB AB17 C654
uid [ unknown] Open Robotics <info@osrfoundation.org>
sudo apt-key del C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新库
sudo apt update && sudo apt upgrade -y
安装 bootstrap
sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
安装rosdep
sudo rosdep init
rosdep update
创建catkin Workspace工作空间
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
ROS全包，有gazebo模拟等
rosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-full-wet.rosinstall
wstool init -j8 src kinetic-desktop-full-wet.rosinstall
Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries
桌面版，有rviz
rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall
wstool init -j8 src kinetic-desktop-wet.rosinstall
ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
有ros命令行tools和一些基本包，
rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
wstool init -j8 src kinetic-ros_comm-wet.rosinstall
因为是使用的是树莓派，所以只能装ROS-Comm。
在编译之前，需要解决一些依赖
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
编译Workspace
sudo mkdir -p /opt/ros/kinetic
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
出现错误
==> Processing catkin package: 'rospack'
==> Building with env: '/opt/ros/kinetic/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/pi/ros_catkin_ws/build_isolated/rosp ack'
==> make -j4 -l4 in '/home/pi/ros_catkin_ws/build_isolated/rospack'
[ 22%] Building CXX object CMakeFiles/rospack.dir/src/rospack_backcompat.cpp.o
[ 22%] Building CXX object CMakeFiles/rospack.dir/src/rospack.cpp.o
[ 33%] Building CXX object CMakeFiles/rospack.dir/src/utils.cpp.o
[ 44%] Building CXX object CMakeFiles/rospack.dir/src/rospack_cmdline.cpp.o
In file included from /home/pi/ros_catkin_ws/src/rospack/src/rospack.cpp:28:
/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h:108:10: fatal error : boost/tr1/unordered_set.hpp: No such file or directory
#include <boost/tr1/unordered_set.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/pi/ros_catkin_ws/src/rospack/src/rospack_cmdline.cpp :28:
/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h:108:10: fatal error : boost/tr1/unordered_set.hpp: No such file or directory
#include <boost/tr1/unordered_set.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
看CHANGELOG.rst，是旧的rospack，和github上CHANGELOG不符，boost/tr1已被弃用，去github下载新的。
rospack地址
cd ~/ros_catkin_ws/src/
sudo mv rospack ~/rospack.bak
sudo git clone https://github.com/ros/rospack.git
cd ..
继续重新编译安装
出现另外一个错误
CMake Error at /usr/share/cmake-3.13/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
Could NOT find TinyXML2 (missing: TinyXML2_LIBRARY TinyXML2_INCLUDE_DIR)
缺少TinyXML2库。解决办法:
sudo apt install libtinyxml2-dev
然后编译到roscpp宕机了，一般都是内存不够导致
原本的交换空间只用99M，现在加1GB交换空间进去。
$ free -h 可查看 有多少内存和交换空间（swap）
交换空间的实质是使用硬盘临时代替内存，当作临时存储数据的地方，硬盘速度没内存的速度快
sudo fallocate -l 1G /opt/image/swap （路径可自己定义）
sudo mkswap /opt/image/swap
sudo swapon /opt/image/swap
sudo nano /etc/fstab
后面追加
/opt/image/swap /swap swap defaults 0 0
安装完后请删除掉这句话，重启就还是原来的交换空间大小了
删除 /opt/image/swap 文件释放硬盘空间
sudo rm -rf /opt/image/swap
继续编译
-- Install configuration: "Release"
-- Installing: /opt/ros/kinetic/_setup_util.py
-- Installing: /opt/ros/kinetic/env.sh
.. 省略一大堆文字
-- Installing: /opt/ros/kinetic/lib/rosbag/makerule.py
-- Installing: /opt/ros/kinetic/lib/rosbag/savemsg.py
-- Installing: /opt/ros/kinetic/lib/rosbag/topic_renamer.py
<== Finished processing package [52 of 52]: 'rosbag'
运行
source /opt/ros/kinetic/setup.bash
roscore
...logging to /home/pi/.ros/log/5d8b53d4-a2c5-11e9-8887-b827eb443c56/roslaunch-raspberrypi-8288.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://raspberrypi:44203/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [8299]
ROS_MASTER_URI=http://raspberrypi:11311/
最后加上source
nano ~/.bashec
添加
source /opt/ros/kinetic/setup.bash
over!
ros 入门教程–创客智造
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