# ros2-openEuler-port-guide

**Repository Path**: anchuanxu/ros2-openEuler-port-guide

## Basic Information

- **Project Name**: ros2-openEuler-port-guide
- **Description**: ros2在openEuler上的移植
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-02-22
- **Last Updated**: 2021-02-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README



# ROS2 openEuler(x86)移植

## openEuler和Fedora源配置

/etc/yum.repos.d/openEuler.repo

```bash
[openEuler-source]
name=openEuler-source
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/source/
enabled=1
gpgcheck=1
gpgkey=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/source/RPM-GPG-KEY-openEuler
[openEuler-os]
name=openEuler-os
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/OS/x86_64/
enabled=1
gpgcheck=1
gpgkey=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/OS/x86_64/RPM-GPG-KEY-openEuler
[openEuler-everything]
name=openEuler-everything
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/everything/x86_64/
enabled=1
gpgcheck=1
gpgkey=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/everything/x86_64/RPM-GPG-KEY-openEuler
[openEuler-EPOL]
name=openEuler-epol
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/EPOL/x86_64/
enabled=1
gpgcheck=0
```
fedora29源在openEuler 20.03不可用，要使用fedora30源，/etc/yum.repos.d/fedora.repo:

```bash
[fedora30]
name=fed
baseurl=http://mirrors.aliyun.com/fedora/releases/30/Everything/x86_64/os/
enabled=1
gpgcheck=0
```
## 安装基础依赖

openEuler和fedora源同时开启，并安装以下依赖：

```shell
sudo dnf install -y asio-devel cmake cppcheck eigen3-devel gcc-c++ liblsan libXaw-devel libyaml-devel make opencv-devel patch python3-argcomplete python3-coverage python3-devel python3-empy python3-lxml python3-mock python3-nose python3-pep8 python3-pip python3-pydocstyle python3-pyflakes python3-pyparsing  python3-setuptools python3-vcstool python3-yaml poco-devel poco-foundation python3-flake8 python3-flake8-import-order tinyxml2-devel uncrustify wget 
```
注：与ros2原始安装文档相比，存在以下不同：
* 没有安装redhat-rpm-config，redhat-rpm-config与openEuler-rpm-config冲突
* 没有安装python3-colcon-common-extensions，可以用pip安装
* 没有安装tinyxml-devel，因为dnf源中的该库文件用较低版本gcc编译，API中的参数类型规格与ros2中调用的不匹配。因此直接使用ros2中的tinyxml_vendor包进行源代码编译

只开启openEuler源，安装clang：

```bash
sudo dnf install clang
```
* clang在openEuler和fedora源中都有，同时开启两个源安装clang会存在冲突
* 安装clang后重新enable fedora源
## 配置pip源并安装其他依赖

```bash
pip3 config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple
sudo pip3 config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple
pip3 install --user -U lark-parser
sudo pip3 install -U rosdep
sudo pip3 install -U pytest colcon-common-extensions
```
* rosdep要更新到最新的0.19（默认安装的是0.15），0.19中更新了一些依赖关系
* 安装colcon-common-extensions以获取colcon构建工具
* dnf源中的python3-pytest版本比较旧，不符合ros2一些组件对pytest版本的要求，需要pip安装最新版本
* lark-parser必须用pip安装，dnf源中的python3-lark-parser版本较低，解析rosidl时存在类型问题

## 配置并更新rosdep依赖映射

rosdep初始化
```bash
sudo rosdep init
```

增加自定义映射关系/etc/ros/rosdep/base-openeuler.yaml：

```bash
libboost-filesystem-dev:
  rhel: [boost-devel]
libboost-thread-dev:
  rhel: [boost-devel]  
libjpeg:
  rhel: [libjpeg-turbo]  
python-rospkg:
  rhel:
    pip:
      packages: [rospkg]
python-setuptools:
  rhel:
    pip:
      packages: [setuptools]
python-gnupg:
  rhel:
    pip:
      packages: [gnupg]
python-catkin-pkg-modules:
  rhel:
    pip:
      packages: [catkin-pkg]
python-catkin-pkg:
  rhel:
    pip:
      packages: [catkin-pkg]  
python-rosdep:
  rhel:
    pip:
      packages: [rosdep]
# ros2新增加的部分：
python3-flake8:
  rhel:
    pip:
      package: [flake8] 
python3-lttng:
  rhel:
    pip:
      package: [lttng] 
python3-pydot:
  rhel:
    pip:
      package: [pydot] 
python3-flake8:
  rhel:
    pip:
      package: [flake8] 
python3-pytest-mock:
  rhel:
    pip:
      package: [pytest-mock]
python3-babeltrace:
  rhel:
    pip:
      package: [babeltrace] 
python3-pep8:
  rhel:
    pip:
      package: [pep8] 
python3-matplotlib:
  rhel:
    pip:
      package: [matplotlib] 
pydocstyle:
  rhel:
    pip:
      package: [pydocstyle] 

clang-tidy:
  rhel:
    dnf:
      package: [clang-tools-extra] 

python3-mypy:
  rhel:
    pip:
      package: [mypy] 

python3-ifcfg:
  rhel:
    pip:
      package: [ifcfg] 
```
/etc/ros/rosdep/sources.list.d/10-openeuler.list：
```bash
yaml file:///etc/ros/rosdep/base-openeuler.yaml
```
更新dep关系：
```bash
export ROS_OS_OVERRIDE=centos:7.6
rosdep update
```
* 以上两个文件需要普通账号有访问权限（读取）
* 如有依赖映射文件的更新，需要重新执行rosdep update命令更新依赖关系

## 准备ros2源代码库
```bash
mkdir -p ~/ros2_eloquent/src
cd ~/ros2_eloquent
wget https://raw.githubusercontent.com/ros2/ros2/eloquent/ros2.repos
vcs import src < ros2.repos
rosdep install --from-paths src --ignore-src --rosdistro eloquent -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers tinyxml-devel"
```
* --skip-keys中要添加tinyxml-devel避免使用dnf源中的tinyxml库
* 不同ros2 distro依赖的库有所不同，具体参考[ros2安装文档](https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Development-Setup/#eloquent-linux-dev-get-ros2-code)

## 构建ros2源代码
```bash
colcon build --packages-skip qt_gui_cpp qt_gui_core rqt_gui_cpp rqt --packages-skip-regex '^rviz.*'
```
* 一些gui相关的库依赖redhat-rpm-config包，与openEuler-rpm-config冲突，待进一步检查具体使用了哪些功能，并打patch支持openEuler-rpm-config
* rviz相关的包还存在一些依赖问题，暂时不安装（openEuler暂时没有图形界面）

构建如果报错，可以增加--event-handlers console_direct+ console_cohesion+参数查看cmake日志以定位问题

* 如果shell session中已经更新过其他版本的setup.bash环境，需要重新开一下session，避免其他版本环境变量信息对构建产生影响
* 比较新的版本中可能会使用tf2_bullet包，需要安装bullet-devel库：dnf install bullet-devel

## 测试ros2
更新环境并开启ros2示例

```bash
source install/setup.bash
ros2 run demo_nodes_cpp talker
[INFO] [talker]: Publishing: 'Hello World: 1'
[INFO] [talker]: Publishing: 'Hello World: 2'
[INFO] [talker]: Publishing: 'Hello World: 3'
```
rosidl_generator_c报错unknown type 'boolean'的问题：原因是rosidl相关的库在解析.idl文件时以来lark-parser，在之前的dashing实践中用pip3安装的lark-parser，是最新版本。而dnf install python3-lark-parser安装的是0.6，根据其他人遇到的类似问题的解答：

[https://answers.ros.org/question/320480/build-failed-at-rosidl_generator_c-package/](https://answers.ros.org/question/320480/build-failed-at-rosidl_generator_c-package/)

lark-parser要求最低版本为0.7，用pip3安装0.9后问题解决