Debian Robotics Project
The aim of this project is to build the needed packages to use a Debian box in a robotic environment. We are specially focused to backporting the Debian official ones to use in a Debian Stable. The list of packages may change during the time, by now, we are mainly concentrated in ROS with all the satellite programs.
To use the packages it is better to add bullseye-backports in your sources. Also, add this two lines to your sources.list:
Also, the corresponding gpg key:
1 apt-key adv --keyserver pgp.rediris.es --recv-keys 63DE76AC0B6779BF
All the packages in this repository has the ~drpXX suffix in the version number, where XX is the Debian stable version. In the case of Bulleye is 11.
Packages Backported to Bullseye Robotics
Currently ALL the official list of packages mentioned here are built and ready to install in Bullseye. Also, the prospective packages in "Functional shape" are included (marked with blue Status).
The packages backported can be:
- Simple backported version of the original on in unstable/testing with no modification.
- Modifications to be used in Bullseye (stable) because some versions dependencies in stable. In that case, the changes are done in a bullseye-robotics branch in the official repo.
Two important changes done with respect unstable/testing versions
- rviz has been built against libogre1.9. This modification has been necessary to build all the gazebo-ros stuff.
- pluglib has an small patch to search a plugin also installed under /usr/lib/${DEB_HOST_MULTIARCH}. The version in unstable/testing follow the policies and only search for /usr/lib/${DEB_HOST_MULTIARCH}/ros and /usr/lib
The repository also include backported versions from the archive of:
- fcl
- ompl
- gazebo from unstable (11.9) and its dependencies.
Also, there are another extras packaged, not in the archive but interesting as:
ros4debian
Debian Science Team or the Robotics Team cannot make the nearly 1600 packages that ROS has for Debian with requirements in the Policy. The original Ubuntu package includes valuable information about the requirements for building and running the package. No need to reinvent the wheel.
ros4debian , is a python program that from the original debian directory provided by upstream, parse the control file to obtain the Build-deps and the Depends field to generate a new one a bit more polished, but using the Debian ones in the archive.
A long set of packages created using that tool and patched can be used. The sources are here. To use the generated packages add:
to your sources list. You need the bullseye-robotics mentioned below.
An special note about using ros4debian packages
They are generated and patched to be built in a Bullseye. Use at your own risk. If you find any bug in any of the bullseye-robotics feel free to put an issue at https://gitlab.com/ros4debian.