绵阳建设局网站,德州关键词优化,家具建设网站,永州网站制作建设这里的源码#xff0c;是指的ros2 humble的官方源码。如果是自己手撸的节点或相关源码#xff0c;请参考本人以前的贴子#xff0c;
Ubuntu20.04vscode快速调试ROS通用程序_ubuntu20.04vscode那个版本和ros 兼容_高精度计算机视觉的博客-CSDN博客
Ubuntu20.04#xff0b;…这里的源码是指的ros2 humble的官方源码。如果是自己手撸的节点或相关源码请参考本人以前的贴子
Ubuntu20.04vscode快速调试ROS通用程序_ubuntu20.04vscode那个版本和ros 兼容_高精度计算机视觉的博客-CSDN博客
Ubuntu20.04gdb/vscode调试ROS(VINS-Mono)程序_ros gdb用terminal_高精度计算机视觉的博客-CSDN博客
第一步安装ROS2_humble源码 这一步只编译debug模式但不要安装到/usr/bin下
本来这里不需要贴出来但由于官方老是更新所以为了直接反映当前的情况我直接贴到下面
https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
Ubuntu (source)
Table of Contents System requirements System setup Set locale Add the ROS 2 apt repository Install development tools and ROS tools Get ROS 2 code Install dependencies using rosdep Install additional DDS implementations (optional) Build the code in the workspace Environment setup Source the setup script Try some examples Next steps after installing Using the ROS 1 bridge Additional RMW implementations (optional) Alternate compilers Clang Stay up to date Troubleshooting Uninstall
System requirements
The current Debian-based target platforms for Humble Hawksbill are: Tier 1: Ubuntu Linux - Jammy (22.04) 64-bit Tier 3: Ubuntu Linux - Focal (20.04) 64-bit Tier 3: Debian Linux - Bullseye (11) 64-bit
Other Linux platforms with varying support levels include: Arch Linux, see alternate instructions Fedora Linux, see alternate instructions OpenEmbedded / webOS OSE, see alternate instructions
As defined in REP 2000.
System setup
Set locale
Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.
locale # check for UTF-8
sudo apt update sudo apt install locales sudo locale-gen en_US en_US.UTF-8 sudo update-locale LC_ALLen_US.UTF-8 LANGen_US.UTF-8 export LANGen_US.UTF-8 locale # verify settings
Add the ROS 2 apt repository
You will need to add the ROS 2 apt repository to your system.
First ensure that the Ubuntu Universe repository is enabled.
sudo apt install software-properties-common sudo add-apt-repository universe
Now add the ROS 2 GPG key with apt.
sudo apt update sudo apt install curl -y sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
Then add the repository to your sources list.
echo “deb [arch$(dpkg --print-architecture) signed-by/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release echo $UBUNTU_CODENAME) main” | sudo tee /etc/apt/sources.list.d/ros2.list /dev/null
Install development tools and ROS tools
Install common packages.
sudo apt update sudo apt install -y python3-flake8-docstrings python3-pip python3-pytest-cov ros-dev-tools
Install packages according to your Ubuntu version.
sudo apt install -y python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat python3-pytest-rerunfailures
Get ROS 2 code
Create a workspace and clone all repos:
mkdir -p ~/ros2_humble/src cd ~/ros2_humble vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
Install dependencies using rosdep
ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.
sudo apt upgrade
sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src -y --skip-keys “fastcdr rti-connext-dds-6.0.1 urdfdom_headers”
Note: If you’re using a distribution that is based on Ubuntu (like Linux Mint) but does not identify itself as such, you’ll get an error message like Unsupported OS [mint]. In this case append --osubuntu:jammy to the above command.
Install additional DDS implementations (optional)
If you would like to use another DDS or RTPS vendor besides the default, you can find instructions here.
Build the code in the workspace
If you have already installed ROS 2 another way (either via Debians or the binary distribution), make sure that you run the below commands in a fresh environment that does not have those other installations sourced. Also ensure that you do not have source /opt/ros/${ROS_DISTRO}/setup.bash in your .bashrc. You can make sure that ROS 2 is not sourced with the command printenv | grep -i ROS. The output should be empty.
More info on working with a ROS workspace can be found in this tutorial.
cd ~/ros2_humble/ colcon build --symlink-install
Note: if you are having trouble compiling all examples and this is preventing you from completing a successful build, you can use COLCON_IGNORE in the same manner as CATKIN_IGNORE to ignore the subtree or remove the folder from the workspace. Take for instance: you would like to avoid installing the large OpenCV library. Well then simply run touch COLCON_IGNORE in the cam2image demo directory to leave it out of the build process.
Environment setup
Source the setup script
Set up your environment by sourcing the following file.
Replace “.bash” with your shell if you’re not using bash
Possible values are: setup.bash, setup.sh, setup.zsh
. ~/ros2_humble/install/local_setup.bash
Try some examples
In one terminal, source the setup file and then run a C talker:
. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python listener:
. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_py listener
You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C and Python APIs are working properly. Hooray!
Next steps after installing
Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
Using the ROS 1 bridge
The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the dedicated documentation on how to build and use the ROS 1 bridge.
Additional RMW implementations (optional)
The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW) can be replaced at runtime. See the guide on how to work with multiple RMWs.
Alternate compilers
Using a different compiler besides gcc to compile ROS 2 is easy. If you set the environment variables CC and CXX to executables for a working C and C compiler, respectively, and retrigger CMake configuration (by using --force-cmake-config or by deleting the packages you want to be affected), CMake will reconfigure and use the different compiler.
Clang
To configure CMake to detect and use Clang:
sudo apt install clang export CCclang export CXXclang colcon build --cmake-force-configure
Stay up to date
See Maintain source checkout to periodically refresh your source installation.
Troubleshooting
Troubleshooting techniques can be found here.
Uninstall If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s setup file. This way, your environment will behave as though there is no Humble install on your system. If you’re also trying to free up space, you can delete the entire workspace directory with:
rm -rf ~/ros2_humble
第二步编译 《colcon-build-ros2-humble》
cd ~/ros2_humble/
当然你可以使用官方的指令不过编译出来默认是Release不能进行源码调试
colcon build --symlink-install
https://autowarefoundation.github.io/autoware-documentation/pr-278/how-to-guides/advanced-usage-of-colcon/
实际这里要使用下面的Debug模式因为要调试
colcon build --cmake-args -DCMAKE_BUILD_TYPEDebug
colcon build --cmake-args -DCMAKE_BUILD_TYPERelWithDebInfo
colcon build --cmake-args -DCMAKE_BUILD_TYPERelease
然后如果下面的命令可以成功执行就说明编译成功了
. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_cpp talker
. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_py listener
因为ROS2在ubuntu下面的编译几乎没什么难度所以这里不展开了。
第三步拷贝测试代码并进行编译 为了避免修改源码这里我把
/home/matthew/ros2_humble/src/ros2/demos/demo_nodes_cpp
/home/matthew/ros2_humble/src/ros2/examples
等测试文件夹直接拷贝到这里
/home/matthew/test/src/demo_nodes_cpp
然后test就相当于workspace教程上一般会用ros2_ws这样的目录本质上是一样的其下一定要有src目录方便管理。
cd ~/test
colcon build --cmake-args -DCMAKE_BUILD_TYPEDebug一切正常的话就会生成debug版本的talker等一系列可执行文件其中talker的位置在这里
/home/matthew/test/install/demo_nodes_cpp/lib/demo_nodes_cpp其他应用程序都是一样的原理因为实际生成的可执行文件比较多这里就不列出来了后面我会调试talker和publisher_member_function进行调试。
第四步VSCODE准备工作 用VSCODE打开文件夹
/home/matthew/test/
然后通过vscode的运行调试按钮添加launch.json这里只调试talker内容如下
{// Use IntelliSense to learn about possible attributes.// Hover to view descriptions of existing attributes.// For more information, visit: https://go.microsoft.com/fwlink/?linkid830387version: 0.2.0,configurations: [{name: (gdb) Launch,type: cppdbg,request: launch,program: ${workspaceFolder}/install/demo_nodes_cpp/lib/demo_nodes_cpp/talker,args: [],stopAtEntry: false,cwd: ${workspaceFolder},environment: [],externalConsole: false,MIMode: gdb,setupCommands: [{description: Enable pretty-printing for gdb,text: -enable-pretty-printing,ignoreFailures: true}]}]
}快捷键ctrlshiftp找到Tasks:Configure Task添加tasks.json文件
{version: 2.0.0,tasks: [{type: cppbuild,label: C/C: clang-14 生成活动文件,command: /usr/bin/clang-14,args: [-fcolor-diagnostics,-fansi-escape-codes,-g,${file},-o,${fileDirname}/${fileBasenameNoExtension}],options: {cwd: ${fileDirname}},problemMatcher: [$gcc],group: build,detail: 编译器: /usr/bin/clang-14}]
}快捷键ctrlshiftp找到C/C :Edit configurations (JSON)添加c_cppproperties.json文件
{configurations: [{name: testconfig,includePath: [${workspaceFolder}/**,${workspaceFolder}/src/demo_nodes_cpp_native/include,${workspaceFolder}/src/demo_nodes_cpp/include,/usr/include/**,/home/matthew/ros2_humble/installed/include/**,/home/matthew/ros2_humble/installed/include/rclcpp/**,/home/matthew/ros2_humble/installed/include/rclcpp/**,/home/matthew/ros2_humble/installed/include/rclcpp/**,/home/matthew/ros2_humble/installed/include/actionlib_msgs/**,/home/matthew/ros2_humble/installed/include/action_msgs/**,/home/matthew/ros2_humble/installed/include/action_tutorials_interfaces/**,/home/matthew/ros2_humble/installed/include/ament_index_cpp/**,/home/matthew/ros2_humble/installed/include/benchmark/**,/home/matthew/ros2_humble/installed/include/builtin_interfaces/**,/home/matthew/ros2_humble/installed/include/camera_calibration_parsers/**,/home/matthew/ros2_humble/installed/include/camera_info_manager/**,/home/matthew/ros2_humble/installed/include/class_loader/**,/home/matthew/ros2_humble/installed/include/composition_interfaces/**,/home/matthew/ros2_humble/installed/include/dds/**,/home/matthew/ros2_humble/installed/include/ddsc/**,/home/matthew/ros2_humble/installed/include/diagnostic_msgs/**,/home/matthew/ros2_humble/installed/include/example_interfaces/**,/home/matthew/ros2_humble/installed/include/examples_rclcpp_cbg_executor/**,/home/matthew/ros2_humble/installed/include/fastcdr/**,/home/matthew/ros2_humble/installed/include/fastdds/**,/home/matthew/ros2_humble/installed/include/fastrtps/**,/home/matthew/ros2_humble/installed/include/foonathan_memory/**,/home/matthew/ros2_humble/installed/include/geometry_msgs/**,/home/matthew/ros2_humble/installed/include/gmock/**,/home/matthew/ros2_humble/installed/include/gtest/**,/home/matthew/ros2_humble/installed/include/iceoryx/**,/home/matthew/ros2_humble/installed/include/idl/**,/home/matthew/ros2_humble/installed/include/idlc/**,/home/matthew/ros2_humble/installed/include/image_tools/**,/home/matthew/ros2_humble/installed/include/image_transport/**,/home/matthew/ros2_humble/installed/include/interactive_markers/**,/home/matthew/ros2_humble/installed/include/intra_process_demo/**,/home/matthew/ros2_humble/installed/include/kdl_parser/**,/home/matthew/ros2_humble/installed/include/keyboard_handler/**,/home/matthew/ros2_humble/installed/include/laser_geometry/**,/home/matthew/ros2_humble/installed/include/libstatistics_collector/**,/home/matthew/ros2_humble/installed/include/libyaml_vendor/**,/home/matthew/ros2_humble/installed/include/lifecycle_msgs/**,/home/matthew/ros2_humble/installed/include/logging_demo/**,/home/matthew/ros2_humble/installed/include/map_msgs/**,/home/matthew/ros2_humble/installed/include/mcap_vendor/**,/home/matthew/ros2_humble/installed/include/message_filters/**,/home/matthew/ros2_humble/installed/include/mimick/**,/home/matthew/ros2_humble/installed/include/moodycamel/**,/home/matthew/ros2_humble/installed/include/nav_msgs/**,/home/matthew/ros2_humble/installed/include/OGRE/**,/home/matthew/ros2_humble/installed/include/osrf_testing_tools_cpp/**,/home/matthew/ros2_humble/installed/include/pendulum_msgs/**,/home/matthew/ros2_humble/installed/include/performance_test_fixture/**,/home/matthew/ros2_humble/installed/include/pluginlib/**,/home/matthew/ros2_humble/installed/include/qt_gui_cpp/**,/home/matthew/ros2_humble/installed/include/rcl/**,/home/matthew/ros2_humble/installed/include/rcl_action/**,/home/matthew/ros2_humble/installed/include/rclcpp/**,/home/matthew/ros2_humble/installed/include/rclcpp_action/**,/home/matthew/ros2_humble/installed/include/rclcpp_components/**,/home/matthew/ros2_humble/installed/include/rclcpp_lifecycle/**,/home/matthew/ros2_humble/installed/include/rcl_interfaces/**,/home/matthew/ros2_humble/installed/include/rcl_lifecycle/**,/home/matthew/ros2_humble/installed/include/rcl_logging_interface/**,/home/matthew/ros2_humble/installed/include/rcl_yaml_param_parser/**,/home/matthew/ros2_humble/installed/include/rcpputils/**,/home/matthew/ros2_humble/installed/include/rcutils/**,/home/matthew/ros2_humble/installed/include/resource_retriever/**,/home/matthew/ros2_humble/installed/include/rmw/**,/home/matthew/ros2_humble/installed/include/rmw_connextdds/**,/home/matthew/ros2_humble/installed/include/rmw_dds_common/**,/home/matthew/ros2_humble/installed/include/rmw_fastrtps_cpp/**,/home/matthew/ros2_humble/installed/include/rmw_fastrtps_dynamic_cpp/**,/home/matthew/ros2_humble/installed/include/rmw_fastrtps_shared_cpp/**,/home/matthew/ros2_humble/installed/include/robot_state_publisher/**,/home/matthew/ros2_humble/installed/include/ros2cli_test_interfaces/**,/home/matthew/ros2_humble/installed/include/rosbag2_compression/**,/home/matthew/ros2_humble/installed/include/rosbag2_compression_zstd/**,/home/matthew/ros2_humble/installed/include/rosbag2_cpp/**,/home/matthew/ros2_humble/installed/include/rosbag2_interfaces/**,/home/matthew/ros2_humble/installed/include/rosbag2_storage/**,/home/matthew/ros2_humble/installed/include/rosbag2_storage_default_plugins/**,/home/matthew/ros2_humble/installed/include/rosbag2_storage_mcap_testdata/**,/home/matthew/ros2_humble/installed/include/rosbag2_test_common/**,/home/matthew/ros2_humble/installed/include/rosbag2_transport/**,/home/matthew/ros2_humble/installed/include/rosgraph_msgs/**,/home/matthew/ros2_humble/installed/include/rosidl_runtime_c/**,/home/matthew/ros2_humble/installed/include/rosidl_runtime_cpp/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_c/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_cpp/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_fastrtps_c/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_fastrtps_cpp/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_interface/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_introspection_c/**,/home/matthew/ros2_humble/installed/include/rosidl_typesupport_introspection_cpp/**,/home/matthew/ros2_humble/installed/include/rqt_gui_cpp/**,/home/matthew/ros2_humble/installed/include/rttest/**,/home/matthew/ros2_humble/installed/include/rviz_common/**,/home/matthew/ros2_humble/installed/include/rviz_default_plugins/**,/home/matthew/ros2_humble/installed/include/rviz_rendering/**,/home/matthew/ros2_humble/installed/include/rviz_visual_testing_framework/**,/home/matthew/ros2_humble/installed/include/sensor_msgs/**,/home/matthew/ros2_humble/installed/include/shape_msgs/**,/home/matthew/ros2_humble/installed/include/statistics_msgs/**,/home/matthew/ros2_humble/installed/include/std_msgs/**,/home/matthew/ros2_humble/installed/include/std_srvs/**,/home/matthew/ros2_humble/installed/include/stereo_msgs/**,/home/matthew/ros2_humble/installed/include/test_msgs/**,/home/matthew/ros2_humble/installed/include/tf2/**,/home/matthew/ros2_humble/installed/include/tf2_bullet/**,/home/matthew/ros2_humble/installed/include/tf2_eigen/**,/home/matthew/ros2_humble/installed/include/tf2_eigen_kdl/**,/home/matthew/ros2_humble/installed/include/tf2_geometry_msgs/**,/home/matthew/ros2_humble/installed/include/tf2_kdl/**,/home/matthew/ros2_humble/installed/include/tf2_msgs/**,/home/matthew/ros2_humble/installed/include/tf2_ros/**,/home/matthew/ros2_humble/installed/include/tf2_sensor_msgs/**,/home/matthew/ros2_humble/installed/include/tlsf/**,/home/matthew/ros2_humble/installed/include/tlsf_cpp/**,/home/matthew/ros2_humble/installed/include/tracetools/**,/home/matthew/ros2_humble/installed/include/trajectory_msgs/**,/home/matthew/ros2_humble/installed/include/turtlesim/**,/home/matthew/ros2_humble/installed/include/unique_identifier_msgs/**,/home/matthew/ros2_humble/installed/include/urdf/**,/home/matthew/ros2_humble/installed/include/urdfdom/**,/home/matthew/ros2_humble/installed/include/urdfdom_headers/**,/home/matthew/ros2_humble/installed/include/urdf_parser_plugin/**,/home/matthew/ros2_humble/installed/include/visualization_msgs/**],defines: [],compilerPath: /usr/bin/clang-14,cStandard: c17,cppStandard: c17,intelliSenseMode: linux-clang-x64}],version: 4
}这里面为什么include path会这么多因为官方的源码是把所有的include合并到一个文件夹中的我这里就不合并了只是把所有的install下面的include文件夹拷贝到/home/matthew/test/installed下面去了子目录非常多我是通过脚本自动添加的这些路径。
脚本的办法五花八门我自己喜欢用NotePad结合Linux下几个常用的指令参考如下
find . -type d output.txtor tree
tree -d output.txtor
ls list.txt然后通过文本处理器Notepad替换添加一顿操作弄好之后直接贴到include path里就OK了。
第五步VSCODE调试运行ros2-humble源码 到这里一切准备就绪vscode里打开一个terminal输入
$ cd ~/test
$ . ~/ros2_humble/install/setup.bash
$ . ./install/setup.bash这里要注意 一定是要在左边已经选择(gdb) Launch的情况 下在右侧的cppdbg:publisher_member_function窗口中输入setup.bash指令 不是bash窗口如下图的右下角所示否则会找不到librclcpp.so等库文件 而无法调试。
然后就可以在member_function里随便打断点进入ros2 humble的源码了截图如下所示
可以看到成功进入了ros2 humble的源码了 本文结束
