arch-wiki-md-repo

[ROS](http://www.ros.org) is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. ## Contents * [1 Installation Instructions](#Installation_Instructions) * [2 Older Versions (Not fully working)](#Older_Versions_.28Not_fully_working.29) * [2.1 Kinetic](#Kinetic) * [2.2 Configure the build tool](#Configure_the_build_tool) * [3 catkin_make](#catkin_make) * [4 catkin build](#catkin_build) * [5 Rebuild when shared libraries are updated](#Rebuild_when_shared_libraries_are_updated) * [6 Ros 2](#Ros_2) * [6.1 Building from source](#Building_from_source) * [6.2 Usage Examples](#Usage_Examples) ## Installation Instructions You can install any of the ROS distributions below since they are fully released on AUR. Melodic [ros-melodic-desktop-full](https://aur.archlinux.org/packages/ros-melodic-desktop-full/) Lunar [ros-lunar-desktop-full](https://aur.archlinux.org/packages/ros-lunar-desktop-full/) ## Older Versions (Not fully working) ### Kinetic Kinetic packages on the AUR are a work in progress. There are [some issues regarding opencv3](https://github.com/bchretien/arch-ros-stacks/issues/57#issuecomment-228612399) that have not been fully resolved yet (installing [ros-kinetic-opencv3](https://aur.archlinux.org/packages/ros-kinetic-opencv3/) works, but is somewhat inefficient since it rebuilds opencv3). Currently, installing a metapackage such as [ros-kinetic-ros-core](https://aur.archlinux.org/packages/ros-kinetic-ros-core/) or [ros-kinetic-robot](https://aur.archlinux.org/packages/ros-kinetic-robot/) should bring in all required dependencies (see [[1]](https://paste.xinu.at/YXIz/) for the correct order, or use an [AUR helper](/index.php/AUR_helpers#Comparison_table "AUR helpers") that fully resolves dependency trees). Packages are being added on an as-needed basis. Please send package requests to <aur AT seangreenslade DOT com>, and post any issues with the current packages in their respective AUR comments section. ### Configure the build tool ## catkin_make Note that catkin uses python2, and therefore catkin_make may fail unless it explicitly uses python2\. To do so, add the following alias to ~/.bashrc: ``` alias catkin_make="catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so" ``` ## catkin build For configuring the systems using the `catkin build` environment, one have to configure the catkin workspace as usual and issue a ``` catkin config -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so ``` Afterwards, use `catkin build` as normal. Please remember to reconfigure your catkin whenever you delete the configuration files (i.e. the `catkin_ws` directory) ## Rebuild when shared libraries are updated When you update a library that ROS depends on (e.g. Boost), all packages that link to it must be rebuilt. Most AUR helpers will not detect this situation. The following script will generate a list of all packages that are linked to missing so files: [https://seangreenslade.com/h/snippets/ros-find-outofdate.py](https://seangreenslade.com/h/snippets/ros-find-outofdate.py) (Note that the script requires [pyalpm](https://www.archlinux.org/packages/?name=pyalpm) to be installed.) ## Ros 2 ### Building from source Build instructions are available at [https://github.com/ros2/ros2/wiki/Linux-Development-Setup](https://github.com/ros2/ros2/wiki/Linux-Development-Setup). Install build dependencies: [wget](https://www.archlinux.org/packages/?name=wget), [python](https://www.archlinux.org/packages/?name=python), [python-yaml](https://www.archlinux.org/packages/?name=python-yaml), [python-setuptools](https://www.archlinux.org/packages/?name=python-setuptools), [git](https://www.archlinux.org/packages/?name=git), [cmake](https://www.archlinux.org/packages/?name=cmake), [asio](https://www.archlinux.org/packages/?name=asio), [tinyxml](https://www.archlinux.org/packages/?name=tinyxml), [tinyxml2](https://www.archlinux.org/packages/?name=tinyxml2), [eigen](https://www.archlinux.org/packages/?name=eigen), [libxaw](https://www.archlinux.org/packages/?name=libxaw), [glu](https://www.archlinux.org/packages/?name=glu), [qt5-base](https://www.archlinux.org/packages/?name=qt5-base), [opencv](https://www.archlinux.org/packages/?name=opencv), [python-vcstool](https://aur.archlinux.org/packages/python-vcstool/), [python-empy](https://aur.archlinux.org/packages/python-empy/). Fetch the sources: ``` $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws $ wget [https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos](https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos) $ vcs-import src < ros2.repos ``` Presently some fixes are required: ``` $ cd ~/ros2_ws/src/ros2/rviz/ $ git remote add racko [https://github.com/racko/rviz.git](https://github.com/racko/rviz.git) $ git fetch racko added_cmake_project_type fix_fallthrough fix_wrong_yaml_cpp $ git cherry-pick racko/added_cmake_project_type racko/fix_fallthrough racko/fix_wrong_yaml_cpp ``` Now you can build the workspace: ``` $ cd ~/ros2_ws $ src/ament/ament_tools/scripts/ament.py build --symlink-install ``` Read [https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source](https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source) regarding Ros 1 / Ros 2 interoperability. ### Usage Examples First source the workspace: ``` $ . ~/ros2_ws/install/local_setup.bash ``` Functionality comparable to `roscore`, `rosnode`, `rostopic`, `rosmsg`, `rospack`, `rosrun` and `rosservice` is available via `ros2`: ``` $ ros2 -h usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ... ros2 is an extensible command-line tool for ROS 2. optional arguments: -h, --help show this help message and exit Commands: daemon Various daemon related sub-commands msg Various msg related sub-commands node Various node related sub-commands pkg Various package related sub-commands run Run a package specific executable security Various security related sub-commands service Various service related sub-commands srv Various srv related sub-commands topic Various topic related sub-commands Call `ros2 <command> -h` for more detailed usage. ``` A typical "Hello World" example starts with running a publisher node: ``` $ ros2 topic pub /chatter 'std_msgs/String' "data: 'Hello World'" ``` Then, in another terminal, you can run a subscriber (Don't forget to source the workspace in every new terminal): ``` $ ros2 topic echo /chatter ``` List existing nodes: ``` $ ros2 node list publisher_std_msgs_String ``` List topics: ``` $ ros2 topic list /chatter ``` Ros 2's version of rviz is ``` $ rviz2 ```