ros2-build

This a ROS 2 workspace for building ROS 2 together with additional packages from sources.

🚧 NOTE: This documentation will be improved. See also my notes on Building ROS 2 on NVIDIA Jetson TX2 (some parts will be merged here in the future).

Usage

The project is a normal colcon workspace. But it contains a Makefile to automate cloning the sources (using vcstool), patching the sources and building and cleaning the workspace.

Requirements

• vcstool
• colcon and ROS 2 tools as described here

Workflow

1. make init

2. Obtain ROS 2 sources (skip if you don't want to build ROS 2 from sources):

   # replace <distro> with distro name: master (for rolling), humble, galactic, foxy, etc.
   make distro=galactic clone-ros

   Note: The make rule is merely a shortcut for vcs import src --input https://raw.githubusercontent.com/ros2/ros2/<distro>/ros2.repos that also automatically creates src directory if it does not exist.

3. Obtain the sources of packages you want to build (together with ROS 2):

   • CTU's F1Tenth
     • (rolling, humble) make clone-auto-additional – additional packages when ROS 2 apt binary packages are not available or ROS 2 is built from sources
     • (galactic) make clone-auto-additional.galactic – additional packages when ROS 2 apt binary packages are not available or ROS 2 is built from sources
   • Stage simulator
     • make clone-stage-additional – additional packages when ROS 2 apt binary packages are not available or ROS 2 is built from sources

4. Build the workspace using colcon. You can also use the following shortcuts:

   • make build
   • make build-no-db
   • make build-merge-install
   • make clean

See the Makefile for detailed info.

stage

Here are described some additional dependencies that needs to be installed when building stage packages:

• on macOS:
  • TODO
• on Ubuntu 20.04:
  • assuming that build tools like cmake and build-essentials are already installed
  • these are already present: libgl1-mesa-dev libglu1-mesa-dev libpng12-dev libtool (libpng16 also works)
  • sudo apt install libfltk1.1-dev
• on NVIDIA Jetson TX2 Jetpack 4.5.x (L4T 32.5.x) (Ubuntu 18.04):
  • sudo apt install libfltk1.1-dev libjpeg-dev

stage-additional

Here are described some additional dependencies that needs to be installed when building stage-additional packages:

• on macOS:

  TODO: Update notes for Galactic

  Foxy: If you are on macOS < 10.15, see pluginlib build on macOS < 10.15.

  TODO: Foxy: Document adapting brew's boost-python3 formula for Python 3.8

• on NVIDIA Jetson TX2 Jetpack 4.5.x (L4T 32.5.x) (Ubuntu 18.04):

  Run:

  rosdep check -i --from-path src --skip-keys 'stage'

  Expected output:

  apt     libboost-python-dev
  apt     libboost-python1.65.1
  apt     python3-opencv
  

  Then install the missing dependencies using:

  rosdep install -i --from-path src --skip-keys 'stage'

Notes

stage build warning

TODO: Can we use GLVND for OpenGL and GLX for stage package build?

--- stderr: stage                                
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message):
 Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
 available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
 cmake_policy command to set the policy and suppress this warning.

 FindOpenGL found both a legacy GL library:

   OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

 and GLVND libraries for OpenGL and GLX:

   OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
   OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

 OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
 compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
 /usr/share/cmake-3.16/Modules/FindFLTK.cmake:83 (find_package)
 CMakeLists.txt:100 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

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