Ubuntu 22.04源码编译安装ROS Noetic

ROS1对Ubuntu的支持只到20.04，如果要在22.04上安装ROS1只能从源码编译安装。

1. 添加源

由于ROS1官网不支持，因此只能添加ROS2的源

$ 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

1. 安装编译依赖项

$ 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

1. rosdep安装依赖，这一步不用折腾国内怎么访问GitHub的问题了，因为ROS1官网不支持Ubuntu22.04，所以每个依赖项的手动安装。

2. 新建catkin workspace

$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

1. 拉取ROS Noetic源码

$ rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
$ mkdir ./src
$ vcs import --input noetic-desktop.rosinstall ./src

vcs import 这一步因为墙的原因大概率会失败（terminal中打印EEEE，成功会打印....）， 直接替换noetic-desktop.rosinstall中所有的github.com为kgithub.com，然后再次执行

$ vcs import --input noetic-desktop.rosinstall ./src

1. 手动安装ROS Noetic依赖项

$ 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

1. 编译

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3

可能仍会有以下问题

• rosconsole

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);
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
      |                                    |

从GitHub - lucasw/rosconsole拉取rosconsole的源码，切到concise_output_roso分支，覆盖到

~/ros_catkin_ws/src下。

• shared_mutex的问题

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 |

解决方案：

修改/usr/include/log4cxx/boost-std-configuration.h中的

#define STD_SHARED_MUTEX_FOUND 1
#define Boost_SHARED_MUTEX_FOUND 0

为

#define STD_SHARED_MUTEX_FOUND 0
#define Boost_SHARED_MUTEX_FOUND 1

再有其他问题自行Google解决。

1. 最后source环境变量愉快使用ROS Noetic吧~

$ source ~/ros_catkin_ws/install_isolated/setup.bash