[Foxy] Ubuntu(Mint)20.04 + ROS2(Foxy)

 

1. 지역설정

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

 

2. 소스설정

sudo apt update && sudo apt install curl gnupg2 lsb-release

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

 

3. Ros2 패키지 설치

sudo apt update
sudo apt install ros-foxy-desktop ros-foxy-rmw-fastrtps* ros-foxy-rmw-cyclonedds*

#패키지 설치확인
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

 

 

4. ROS 개발툴 설치

sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
libbullet-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
wget

 

python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest

sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev \
libcunit1-dev

 

 

5. 빌드테스트

source /opt/ros/foxy/setup.bash
mkdir -p ~/robot_ws/src
cd ~/robot_ws/
colcon build --symlink-install

 

 

6. run commands 설정

nano ~/.bashrc

 

이거 아래에 복붙하고 cntl+x로 나오면

source /opt/ros/foxy/setup.bash
source ~/robot_ws/install/local_setup.bash

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/vcstool-completion/vcs.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=~/robot_ws

export ROS_DOMAIN_ID=7
export ROS_NAMESPACE=robot1

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# export RMW_IMPLEMENTATION=rmw_connext_cpp
# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# export RMW_IMPLEMENTATION=rmw_gurumdds_cpp

# export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity}]: {message}'
export RCUTILS_COLORIZED_OUTPUT=1
export RCUTILS_LOGGING_USE_STDOUT=0
export RCUTILS_LOGGING_BUFFERED_STREAM=1

alias cw='cd ~/robot_ws'
alias cs='cd ~/robot_ws/src'
alias ccd='colcon_cd'

alias cb='cd ~/robot_ws && colcon build --symlink-install'
alias cbs='colcon build --symlink-install'
alias cbp='colcon build --symlink-install --packages-select'
alias cbu='colcon build --symlink-install --packages-up-to'
alias ct='colcon test'
alias ctp='colcon test --packages-select'
alias ctr='colcon test-result'

alias rt='ros2 topic list'
alias re='ros2 topic echo'
alias rn='ros2 node list'

alias killgazebo='killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient'

alias af='ament_flake8'
alias ac='ament_cpplint'

alias testpub='ros2 run demo_nodes_cpp talker'
alias testsub='ros2 run demo_nodes_cpp listener'
alias testpubimg='ros2 run image_tools cam2image'
alias testsubimg='ros2 run image_tools showimage'

 

7. VScode : 통합개발환경(IDE)설치

설치링크 : 

https://code.visualstudio.com/Download

 

 

VS code 개발환경 설정

아래 각 위치 찾아가서 파일 생성해주고, 그다음 코드들 cat으로 시작하는거 입력해주면 안에 채워짐

(or 그냥 파일에 수기로 첫줄 빼고 입력해도됨)

• ~/.config/Code/User/settings.json
• ~/robot_ws/.vscode/c_cpp_properties.json
• ~/robot_ws/.vscode/tasks.json
• ~/robot_ws/.vscode/launch.json

ex)

 

유저환경 세팅

cat > ~/.config/Code/User/settings.json
{
  "cmake.configureOnOpen": false,
  "editor.minimap.enabled": false,
  "editor.mouseWheelZoom": true,
  "editor.renderControlCharacters": true,
  "editor.rulers": [100],
  "editor.tabSize": 2,
  "files.associations": {
    "*.repos": "yaml",
    "*.world": "xml",
    "*.xacro": "xml"
  },
  "files.insertFinalNewline": true,
  "files.trimTrailingWhitespace": true,
  "terminal.integrated.scrollback": 1000000,
  "workbench.iconTheme": "vscode-icons",
  "workbench.editor.pinnedTabSizing": "compact",
  "ros.distro": "foxy",
  "colcon.provideTasks": true
}

 

 

C/C++ properties 설정

cat > ~/robot_ws/.vscode/c_cpp_properties.json
{
  "configurations": [
    {
      "name": "Linux",
      "includePath": [
        "${default}",
        "${workspaceFolder}/**",
        "/opt/ros/foxy/include/**"
      ],
      "defines": [],
      "compilerPath": "/usr/bin/g++",
      "cStandard": "c99",
      "cppStandard": "c++14",
      "intelliSenseMode": "linux-gcc-x64"
    }
  ],
  "version": 4
}

 

Tasks 설정

cat > ~/robot_ws/.vscode/tasks.json
{
  "version": "2.0.0",
  "tasks": [
    {
      "label": "colcon: build",
      "type": "shell",
      "command": "colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Debug'",
      "problemMatcher": [],
      "group": {
        "kind": "build",
        "isDefault": true
      }
    },
    {
      "label": "colcon: test",
      "type": "shell",
      "command": "colcon test && colcon test-result"
    },
    {
      "label": "colcon: clean",
      "type": "shell",
      "command": "rm -rf build install log"
    }
  ]
}

 

 

Launch 설정

cat > ~/robot_ws/.vscode/launch.json
{
  "version": "0.2.0",
  "configurations": [
    {
      "name": "Debug-rclpy(debugpy)",
      "type": "python",
      "request": "launch",
      "program": "${file}",
      "console": "integratedTerminal"
    },
    {
      "name": "Debug-rclcpp(gbd)",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:node}",
      "args": [],
      "preLaunchTask": "colcon: build",
      "stopAtEntry": true,
      "cwd": "${workspaceFolder}",
      "externalConsole": false,
      "MIMode": "gdb",
      "setupCommands": [
        {
          "description": "Enable pretty-printing for gdb",
          "text": "-enable-pretty-printing",
          "ignoreFailures": true
        }
      ]
    }
  ],
  "inputs": [
    {
      "id": "package",
      "type": "promptString",
      "description": "package name",
      "default": "topic_service_action_rclpp_example"
    },
    {
      "id": "node",
      "type": "promptString",
      "description": "node name",
      "default": "argument"
    }
  ]
}

 

 

qt

sudo apt install qtcreator
qtcreator

 

 

삭제 명령어!! 주의!!

sudo apt remove ros-foxy-* && sudo apt autoremove