ROS2 源

实时更新源信息, 不同发行版的软件包可能有变化.

openEuler 的官方文档目前看来做的不太友好, 不过 2403-LTS-SP2 版本进行了一次升级.

openEuler ROS-sig

咨询了一下，这里的源应该是最新的.

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bash -c 'cat << EOF > /etc/yum.repos.d/ROS.repo
[openEulerROS-humble]
name=openEulerROS-humble
baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-humble_openEuler-24.03-LTS-TEST4/openEuler%3A24.03-LTS/aarch64/
enabled=1
gpgcheck=0
EOF'

安装.

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dnf clean all && dnf makecache 
dnf update
dnf install -y ​​ros-humble-desktop​​
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

22.03-LTS-SP2

中科院软件所的源.

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sudo tee /etc/yum.repos.d/ros-humble-epol.repo > /dev/null <<EOF
[ros-humble]
name=ROS Humble from ISRC Mirror
baseurl=https://fast-mirror.isrc.ac.cn/openeuler/openEuler-22.03-LTS-SP2/EPOL/multi_version/ROS/humble/aarch64/
enabled=1
gpgcheck=0

[epol]
name=EPOL main from ISRC
baseurl=https://fast-mirror.isrc.ac.cn/openeuler/openEuler-22.03-LTS-SP2/EPOL/main/aarch64/
enabled=1
gpgcheck=0

[openeuler-22.03]
name=openEuler 22.03 LTS SP2 from ISRC Mirror
baseurl=https://fast-mirror.isrc.ac.cn/openeuler/openEuler-22.03-LTS-SP2/everything/aarch64/
enabled=1
gpgcheck=0
EOF

之后执行.

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sudo dnf clean all && dnf makecache
dnf install -y ros-humble-ros-base ros-humble-ros-core

24.03-LTS

貌似在SP2没看到ROS的包, LTS倒是有, 来自官网.

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cat EOF | sudo tee "/etc/yum.repos.d/ros-humble-epol.repo"
[ros-humble]
name=ROS Humble from openEuler
baseurl=https://repo.openeuler.org/openEuler-24.03-LTS/EPOL/multi_version/ROS/humble/aarch64/
gpgcheck=0
enabled=1

[ros-noetic]
name=ROS Noetic from openEuler
baseurl=https://repo.openeuler.org/openEuler-24.03-LTS/EPOL/multi_version/ROS/noetic/aarch64/
enabled=1
gpgcheck=0

[openeuler-24.03-LTS]
name=openEuler 24.03 LTS from openEuler
baseurl=https://repo.openeuler.org/openEuler-24.03-LTS-SP2/everything/aarch64/
enabled=1
gpgcheck=0
EOF

之后执行.

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sudo dnf clean all && dnf makecache
dnf install openeuler-ros
# 以下安装可运行最小节点
sudo dnf install \
  ros-humble-rclcpp \
  ros-humble-rclpy \
  ros-humble-std-msgs \
  ros-humble-rosidl-runtime-cpp \
  ros-humble-rosidl-typesupport-fastrtps-cpp \
  ros-humble-rmw-fastrtps-cpp
# 删除
sudo dnf remove --noautoremove \
  ros-humble-rclcpp \
  ros-humble-rclpy \
  ros-humble-std-msgs \
  ros-humble-rosidl-runtime-cpp \
  ros-humble-rosidl-typesupport-fastrtps-cpp \
  ros-humble-rmw-fastrtps-cpp

References