Differences between revisions 32 and 53 (spanning 21 versions)
Revision 32 as of 2015-10-10 23:05:27
Size: 2493
Editor: ?LeopoldPalomo
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/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 5: Line 8:
[[DebianScience/Robotics/ROS/Motivation|Motivation]] == Introduction ==
Line 7: Line 10:
[[DebianScience/Robotics/ROS/Packages|Status of Packages]] 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 9: Line 12:
[[DebianScience/Robotics/ROS/Integration|Status of the Integration]] 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 12: Line 15:
[[https://anonscm.debian.org/cgit/debian-science/packages/ros|source repos]] == ROS1 installation ==
Line 14: Line 17:
[[http://build.osrfoundation.org/view/debbuild-debian/job/ros_debian_science-default-devel-jessie-amd64/|continuous integration Debian Jessie]]
[[http://build.osrfoundation.org/view/debbuild-debian/job/ros_debian_science-default-devel-sid-amd64/|continuous integration Debian Stretch]]
[[http://build.osrfoundation.org/view/debbuild-debian/job/ros_debian_science-default-devel-trusty-amd64/|continuous integration Ubuntu Trusty]]
The official [[http://wiki.ros.org/noetic/Installation|ROS page]] shows that the platforms supported are:
Line 18: Line 19:
=== Repos (containing ROS core and more) ===  * Ubuntu Focal amd64 armhf arm64
 * Debian Buster amd64 arm64
Line 20: Line 22:
{{{#!wiki solid/blue
We have changed the version scheme in our binary repos. If you installed ROS before 20150929 please downgrade all packages to the current versions.
}}}
The rest of the platforms are experimental. In case you are running Bullseye or Testing/Unstable you cannot use Upstream packages.
Line 24: Line 24:
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
}}}
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 30: Line 26:
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
}}}
=== There are another options? ===
Line 36: Line 28:
[[https://launchpad.net/~deb-rob/+archive/ubuntu/ros-trusty|Ubuntu Trusty]]:
{{{#!highlight bash
sudo add-apt-repository ppa:deb-rob/ros-trusty
}}}
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.
Line 41: Line 30:
=== Compile the rest of desktop-full === === Your versions in Stable are outdated ===
Line 43: Line 32:
Installing the needed packages: 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.
Line 45: Line 34:
{{{#!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):
=== But, I need ros-foo that is wonderful and it is no packaged ===
Line 51: Line 36:
{{{#!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
}}}
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.
Line 61: Line 38:
To use the local ROS workspace:
{{{#!highlight bash
echo "source ~/ros/install_isolated/setup.bash" >> ~/.bashrc
source ~/ros/install_isolated/setup.bash
}}}
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