wslでROS1のsetup(melodic) - 駆け出しプログラマーのtech blog

やること

ROS1のセットアップ ubuntu18.04LSTのインストール (やった作業のメモになります。解説は一切ないです。)

手順

ubuntuのインストールは過去の記事を参照にしてください。 ROS1のバージョンをmelodicでインストールしようとしましたが、ubuntu16.04LSTではkineticしか出てこなかったです。

参考:http://wiki.ros.org/melodic/Installation/Ubuntu

実行1

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

実行2

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

実行3

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

実行4

sudo apt update

以下の結果(ROS関連のlog)が出るとOK

Get:1 http://packages.ros.org/ros/ubuntu bionic InRelease [4669 B]
Hit:2 http://archive.ubuntu.com/ubuntu bionic InRelease
Hit:3 http://archive.ubuntu.com/ubuntu bionic-updates InRelease
Hit:4 http://security.ubuntu.com/ubuntu bionic-security InRelease
Hit:5 http://archive.ubuntu.com/ubuntu bionic-backports InRelease
Get:6 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages [635 kB]
Fetched 640 kB in 12s (52.4 kB/s)
Reading package lists... Done
Building dependency tree
Reading state information... Done
All packages are up to date.

実行5

sudo apt install ros-melodic-desktop-full

実行6

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools

実行7

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

実行8

source /opt/ros/melodic/setup.bash

実行9(前にaptしたときはpython-rosdepを忘れてた)

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

実行10

sudo rosdep init
rosdep update

実行結果(エラーが出た)

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
        <urlopen error <urlopen error [Errno -3] Temporary failure in name resolution> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

もう一回rosdep updateを実行

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
ERROR: error loading sources list:
        <urlopen error <urlopen error [Errno -3] Temporary failure in name resolution> (https://raw.githubusercontent.com/ros/rosdistro/master/noetic/distribution.yaml)>

がでた。

sudo vim /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py

で、DOWNLOAD_TIMEOUT=45.0に変更

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
updated cache in /home/USERNAME/.ros/rosdep/sources.cache

成功したのかな?

実行11

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
echo "source `catkin locate --shell-verbs`" >> ~/.bashrc
source ~/.bashrc

実行12

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

実行13

roscore

結果

... logging to xxxxxxxxxxxxxxxxxx.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://xxxxxxxxxxxxxx/
ros_comm version 1.14.5


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
・・・・・・

とりあえずroscore立ち上がったのでインストール成功?