ROS
ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.
Contents
Installation Instructions
You can install any of the ROS distributions below since they are fully released on AUR.
Lunar ros-lunar-desktop-fullAUR
Melodic ros-melodic-desktop-fullAUR Melodic is also available through a unofficial Repo:Unofficial user repositories#oscloud
Older Versions (Not fully working)
Kinetic
Kinetic packages on the AUR are a work in progress. There are some issues regarding opencv3 that have not been fully resolved yet (installing ros-kinetic-opencv3AUR works, but is somewhat inefficient since it rebuilds opencv3). Currently, installing a metapackage such as ros-kinetic-ros-coreAUR or ros-kinetic-robotAUR should bring in all required dependencies (see [1] for the correct order).
Packages are being added on an as-needed basis. Please post any issues with the current packages in their respective AUR comments section.
catkin_make
As specified by the ROS wiki, the first catkin_make command in a clean workspace should be:
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.7m -DPYTHON_LIBRARY=/usr/lib/libpython3.7m.so
Subsequent builds should be done with just
catkin_make
Using Catkin/ROS with an IDE
CLion
To make CLionAUR support ROS packages, you can change the Exec
parameter of its desktop file ( ~/.local/share/applications/jetbrains-clion.desktop
) as follows.
Exec=bash -i -c "source /home/[username]/catkin_ws/devel/setup.sh;/opt/clion/bin/clion.sh" %f
However, /home/[username]/catkin_ws
must be exchanged with your Catkin workspace. You can now open a Catkin project without cmake complaining about missing packages, hopefully.
If desired or needed you can use Python 3 by adding -DPYTHON_EXECUTABLE=/usr/bin/python3
to the CMake options which can be found in the settings.
catkin build
For configuring the systems using the catkin build
environment, one have to configure the catkin workspace as usual and issue a
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so
Afterwards, use catkin build
as normal. Please remember to reconfigure your catkin whenever you delete the configuration files (i.e. the catkin_ws
directory)
When you update a library that ROS depends on (e.g. Boost), all packages that link to it must be rebuilt. Most AUR helpers will not detect this situation. The following script will generate a list of all packages that are linked to missing so files:
https://seangreenslade.com/h/snippets/ros-find-outofdate.py
(Note that the script requires pyalpm to be installed.)
ROS 2
Building from source
Build instructions are available at https://index.ros.org/doc/ros2/Installation/.
Install build dependencies.
Dependencies for Eloquent: (official packages in alphabetical order; AUR packages in an order in which you can sequentially install them without dependency errors) The ros2-arch-depsAUR package attempts to address this, but is out of date. It might be recommended to modify its PKGBUILD manually for now so that these dependencies can be removed altogether when uninstalling ROS 2. asio cmake eigen glew git glu hdf5 libxaw opencv poco python python-cryptography python-lark-parser python-netifaces python-nose python-numpy python-pyqt5 python-setuptools python-sip python-yaml qt5-base sip tinyxml tinyxml2 vtk wget log4cxx python-empy python-notify2AUR python-pytest-repeat python-vcstoolAUR python-colcon-argcompleteAUR python-colcon-bashAUR python-catkin_pkgAUR python-colcon-cmakeAUR python-colcon-coreAUR python-colcon-defaultsAUR python-colcon-devtoolsAUR python-colcon-library-pathAUR python-colcon-metadataAUR python-colcon-notificationAUR python-colcon-outputAUR python-colcon-package-informationAUR python-colcon-package-selectionAUR python-colcon-pkg-configAUR python-colcon-parallel-executorAUR python-colcon-powershellAUR python-colcon-python-setup-pyAUR python-colcon-recursive-crawlAUR python-colcon-rosAUR python-colcon-test-resultAUR python-colcon-zshAUR python-colcon-common-extensionsAUR python-rospkgAUR python-rosdistroAUR python-rosdepAUR
Dependencies for Dashing: wget, python, python-yaml, python-setuptools, sip, python-sip, python-pyqt5, git, cmake, asio, tinyxml, tinyxml2, eigen, libxaw, glu, qt5-base, opencv, hdf5, vtk, glew, poco, python-nose, python-numpy, python-lark-parser, python-cryptography, python-netifaces, python-vcstoolAUR, python-empy, log4cxx, python-colcon-common-extensionsAUR, python-rosdepAUR.
Fetch the sources:
$ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws $ wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos $ vcs import src < ros2.repos
Note: Replace "master" with whatever distribution is desired (e.g. "dashing").
The qt_gui_cpp
package expects to find modules in /usr/share/sip
by default. Arch ships the PyQt5 and sip modules in the Python site-packages directory. Make the the following symlinks to build successfully:
$ ln -s /usr/lib/python3.8/site-packages/PyQt5 /usr/share/sip $ ln -s /usr/lib/python3.8/site-packages/PyQt5/bindings/* /usr/share/sip/
Now you can build the workspace:
$ cd ~/ros2_ws $ colcon build --symlink-install
Read https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source regarding ROS 1 / ROS 2 interoperability.
Usage Examples
First source the workspace:
$ . ~/ros2_ws/install/local_setup.bash
Functionality comparable to roscore
, rosnode
, rostopic
, rosmsg
, rospack
, rosrun
and rosservice
is available via ros2
:
$ ros2 -h usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ... ros2 is an extensible command-line tool for ROS 2. optional arguments: -h, --help show this help message and exit Commands: daemon Various daemon related sub-commands msg Various msg related sub-commands node Various node related sub-commands pkg Various package related sub-commands run Run a package specific executable security Various security related sub-commands service Various service related sub-commands srv Various srv related sub-commands topic Various topic related sub-commands Call `ros2 <command> -h` for more detailed usage.
A typical "Hello World" example starts with running a publisher node:
$ ros2 topic pub /chatter 'std_msgs/String' "data: 'Hello World'"
Then, in another terminal, you can run a subscriber (Don't forget to source the workspace in every new terminal):
$ ros2 topic echo /chatter
List existing nodes:
$ ros2 node list publisher_std_msgs_String
List topics:
$ ros2 topic list /chatter
ROS 2's version of rviz is
$ rviz2