Differences between revisions 23 and 53 (spanning 30 versions)
Revision 23 as of 2015-07-29 13:57:53
Size: 1826
Editor: ?JochenSprickerhof
Comment:
Revision 53 as of 2022-05-08 22:18:07
Size: 3757
Editor: ?JochenSprickerhof
Comment:
Deletions are marked like this. Additions are marked like this.
Line 1: Line 1:
Installation instruction to install ROS on Debian. == Shortcuts about ROS in Debian ==
Line 3: Line 3:
[[DebianScience/Robotics/ROS/Development|How to help]]
[[DebianScience/Robotics/ROS/Motivation|Motivation]]
 * [[ DebianScience/Robotics/ROS/Packages | Status of the current native packages ]]
 * [[ DebianScience/Robotics/ROS/DebianRoboticsPackages| Debian for Robotics packages ]]
 * [[ DebianScience/Robotics/ROS/OnBuster | Installing ROS in Buster ]]
 * [[ DebianScience/Robotics/ROS/DebianPackages | What are the native packages ?]]
Line 6: Line 8:
=== Repos (containing ROS core and more) === == Introduction ==
Line 8: Line 10:
Debian Stretch/Sid (amd64):
{{{#!highlight bash
sudo sh -c 'echo "deb http://sir.upc.edu/debian-robotics unstable main" > /etc/apt/sources.list.d/debian-robotics.list'
sudo apt-key adv --keyserver pgp.rediris.es --recv-keys 63DE76AC0B6779BF
}}}
Robot Operating System (ROS or ros) is an open-source robotics middleware suite. Although ROS is not an operating system but a collection of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management [[[https://en.wikipedia.org/wiki/Robot_Operating_System| Wikipedia]]. ROS has two main versions: ROS1 and ROS2.
Line 14: Line 12:
Debian Jessie (amd64):
{{{#!highlight bash
sudo sh -c 'echo "deb http://sir.upc.edu/debian-robotics jessie-robotics main" > /etc/apt/sources.list.d/debian-robotics.list'
sudo apt-key adv --keyserver pgp.rediris.es --recv-keys 63DE76AC0B6779BF
}}}
ROS is released as distributions, also called “distros”, with more than one ROS distribution supported at a time. Check upstream [[ http://www.ros.org | web ]] for more information. This framework consists of about 1600 packages or projects that give a myriad of benefits for those of us who work in the field of robotics.
Line 20: Line 14:
[[https://launchpad.net/~deb-rob/+archive/ubuntu/ros-trusty|Ubuntu Trusty]]:
{{{#!highlight bash
sudo add-apt-repository ppa:deb-rob/ros-trusty
}}}
Line 25: Line 15:
[[https://anonscm.debian.org/cgit/debian-science/packages/ros|source repos]]
[[http://build.osrfoundation.org/view/ros_debian-science/|continuous integration]]
== ROS1 installation ==
Line 28: Line 17:
=== Compile the rest of desktop-full === The official [[http://wiki.ros.org/noetic/Installation|ROS page]] shows that the platforms supported are:
Line 30: Line 19:
Installing the needed packages:  * Ubuntu Focal amd64 armhf arm64
 * Debian Buster amd64 arm64
Line 32: Line 22:
{{{#!highlight bash
sudo apt-get update
sudo apt-get install ros-desktop-full-depends
}}}
Compile the rest (leave out the tutorials line, if you want them):
The rest of the platforms are experimental. In case you are running Bullseye or Testing/Unstable you cannot use Upstream packages.
Line 38: Line 24:
{{{#!highlight bash
mkdir ~/ros
cd ~/ros
rosinstall_generator desktop_full --rosdistro indigo --deps --wet-only --tar --exclude RPP \
 common_tutorials geometry_tutorials ros_tutorials visualization_tutorials urdf_tutorial \
 ros_base geometry > indigo-desktop-full-wet.rosinstall
wstool init -j8 src indigo-desktop-full-wet.rosinstall
catkin_make_isolated --install
}}}
The packages they provide are self-generated and do not feet most the rules of the Debian project. Each package, for [[ https://github.com/ros-visualization/qt_gui_core/tree/melodic-devel/qt_gui |example]], contains a package.xml file that among other things, it contains what its dependencies are for, to build and to run the package. Upstream provides a tool [[ http://wiki.ros.org/bloom | python3-bloom ]] , that it is in the [[ https://packages.debian.org/bullseye/python3-bloom | archive]] which generates a debian directory with necessary files to run debuild from that debian directory. It's a rudimentary package that for example, provides the *.pyc files!!.
Line 48: Line 26:
To use the local ROS workspace:
{{{#!highlight bash
echo "source ~/ros/install_isolated/setup.bash" >> ~/.bashrc
source ~/ros/install_isolated/setup.bash
}}}
=== There are another options? ===

Yes!! A big yes. The answer depend on the number of packages that you need of ROS1. For the majority of the users, that only needs the core libraries and some applications you can use your Debian distro without any other stuff. The necessary packages are the Debian native packages and you can obtain more information [[ DebianScience/Robotics/ROS/DebianPackages | here ]]. They began to appear in the archive since Debian Stretch.

=== Your versions in Stable are outdated ===

Yes, if you are here you know how Debian works. However, you can use [[ DebianScience/Robotics/ROS/DebianRoboticsPackages| Debian for Robotics packages ]] that has backported versions of Unstable and some plus to use in Debian Stable.

=== But, I need ros-foo that is wonderful and it is no packaged ===

You have several options. For instance, if you are running Debian Buster/Bullseye/Testing/Unstable) you can use the [[ DebianScience/Robotics/ROS/DebianPackages | native packages ]] and complete the rest. [[ DebianScience/Robotics/ROS/OnBuster | Here ]] there is an example of how to do it.

If you are running Debian Bullseye, with the [[ DebianScience/Robotics/ROS/DebianRoboticsPackages| Debian for Robotics packages ]] you can use [[https://salsa.debian.org/robotics-team/ros4debian | ros4debian ]] to have an almost complete installation.

Or, simply, build the [[ http://wiki.ros.org/noetic/Installation/Source | sources ]] of what you need

Shortcuts about ROS in Debian

Introduction

Robot Operating System (ROS or ros) is an open-source robotics middleware suite. Although ROS is not an operating system but a collection of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management ?Wikipedia. ROS has two main versions: ROS1 and ROS2.

ROS is released as distributions, also called “distros”, with more than one ROS distribution supported at a time. Check upstream web for more information. This framework consists of about 1600 packages or projects that give a myriad of benefits for those of us who work in the field of robotics.

ROS1 installation

The official ROS page shows that the platforms supported are:

  • Ubuntu Focal amd64 armhf arm64
  • Debian Buster amd64 arm64

The rest of the platforms are experimental. In case you are running Bullseye or Testing/Unstable you cannot use Upstream packages.

The packages they provide are self-generated and do not feet most the rules of the Debian project. Each package, for example, contains a package.xml file that among other things, it contains what its dependencies are for, to build and to run the package. Upstream provides a tool python3-bloom , that it is in the archive which generates a debian directory with necessary files to run debuild from that debian directory. It's a rudimentary package that for example, provides the *.pyc files!!.

There are another options?

Yes!! A big yes. The answer depend on the number of packages that you need of ROS1. For the majority of the users, that only needs the core libraries and some applications you can use your Debian distro without any other stuff. The necessary packages are the Debian native packages and you can obtain more information here. They began to appear in the archive since Debian Stretch.

Your versions in Stable are outdated

Yes, if you are here you know how Debian works. However, you can use Debian for Robotics packages that has backported versions of Unstable and some plus to use in Debian Stable.

But, I need ros-foo that is wonderful and it is no packaged

You have several options. For instance, if you are running Debian Buster/Bullseye/Testing/Unstable) you can use the native packages and complete the rest. Here there is an example of how to do it.

If you are running Debian Bullseye, with the Debian for Robotics packages you can use ros4debian to have an almost complete installation.

Or, simply, build the sources of what you need