在Ubuntu22.04上源码构建ROS noetic环境

起因

最近在研究VINS-Mono从ROS移植到ROS2，发现在编写feature_tracker的CMakeList.txt后，会出现找不到包含文件的问题，于是向先用ROS把VINS编译跑一下看看，便有了在Ubuntu 22.04虚拟机上再构建一个ROS的环境的想法，本来是想按照官网一步一步做就行了，然而到ROS的官方下载地址发现没有Ubuntu 22.04（jammy）版本和对应的Debian 12（Bookworm）的仓库。

所以按照ros官网安装步骤，在sudo apt update 这一步就止步了，原因就是Ros Noetic主要针对Ubuntu 20.04，并且不正式支持任何更新的发布了。

所以通过Google找到一个源码安装的方法，亲自验证后，在此分享给大家。

准备环境

• 安装docker
• 安装python3
• 安装pip3
• 安装git
• 下载ROS Noetic基础包源码（此次可能需要借助梯子）

创建工作目录并下载源码

mkdir -p ~/ros_noetic_base_2204/catkin_ws/src

在src目录下执行脚本，下载ROS 包

#!/bin/bash
git clone https://github.com/ros/actionlib.git -b 1.14.0
git clone https://github.com/ros/bond_core.git -b 1.8.6
git clone https://github.com/ros/catkin.git -b 0.8.10
git clone https://github.com/ros/class_loader.git -b 0.5.0
git clone https://github.com/ros/cmake_modules.git -b 0.5.0
git clone https://github.com/ros/common_msgs.git -b 1.13.1
git clone https://github.com/ros/dynamic_reconfigure.git -b 1.7.3
git clone https://github.com/ros/gencpp.git -b 0.7.0
git clone https://github.com/jsk-ros-pkg/geneus.git -b 3.0.0
git clone https://github.com/ros/genlisp.git -b 0.4.18
git clone https://github.com/ros/genmsg.git -b 0.6.0
git clone https://github.com/RethinkRobotics-opensource/gennodejs.git -b 2.0.1
git clone https://github.com/ros/genpy.git -b 0.6.16
git clone https://github.com/ros/message_generation.git -b 0.4.1
git clone https://github.com/ros/message_runtime.git -b 0.4.13
git clone https://github.com/ros/nodelet_core.git -b 1.10.2
git clone https://github.com/ros/pluginlib.git -b 1.13.0
git clone https://github.com/ros/ros.git -b 1.15.8
git clone https://github.com/ros/ros_comm.git -b 1.16.0
git clone https://github.com/ros/ros_comm_msgs.git -b 1.11.3
git clone https://github.com/ros/ros_environment.git -b 1.3.2
git clone https://github.com/ros/rosbag_migration_rule.git -b 1.0.1
git clone https://github.com/ros/rosbag_migration_rule.git -b 1.0.1
git clone https://github.com/ros/rosconsole.git -b 1.14.3
git clone https://github.com/ros/rosconsole_bridge.git -b 0.5.4
git clone https://github.com/ros/roscpp_core.git -b 0.7.2
git clone https://github.com/ros/roslisp.git -b 1.9.25
git clone https://github.com/ros/rospack.git -b 2.6.2
git clone https://github.com/ros/std_msgs.git -b 0.5.13
git clone https://github.com/ros/angles.git
git clone https://github.com/ros/geometry.git 

返回到ros_noetic_base_2204目录，下载catkin_pkg和rospkg源码

git clone https://github.com/ros-infrastructure/catkin_pkg.git -b 0.5.2
git clone https://github.com/ros-infrastructure/rospkg.git -b 1.5.0

最后目录结构如下：

安装编译依赖包

sudo apt install -y cmake build-essential libboost-thread-dev libboost-system-dev libboost-filesystem-dev libboost-regex-dev libboost-program-options-dev libconsole-bridge-dev libpoco-dev libtinyxml2-dev liblz4-dev libbz2-dev uuid-dev liblog4cxx-dev libgpgme-dev libgtest-dev python3-setuptools python3-nose python3-pycryptodome python3-defusedxml python3-mock python3-netifaces python3-gnupg python3-numpy python3-psutil

安装ros_comm和rosconsole包的两个补丁并修改pluginlib包的CMakeLists的编译器版本

• 在~/ros_noetic_base_2204/catkin_ws/src/ros_comm目录下新建一个ros_comm.patch的文件，将ros_comm的补丁包的内容拷贝到该文件里（如果用wget直接下载该文件，需要在最后一行末尾加个回车，否则会报错error: corrupt patch at line 22）。
  
  在该目录下执行git apply --ignore-whitespace ros_comm.patch 更新ros_comm包。
• 在~/ros_noetic_base_2204/catkin_ws/src/rosconsole目录下用同样的方法将rosconsole.patch内容写到该目录的文件里，在该目录下执行git apply --ignore-whitespace rosconsole.patch 更新rosconsole.patch包。
• 把pluginlib的CMakeList.txt文件中${PROJECT_NAME}_unique_ptr_test的C++编译器版本11改为17。
  

diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index 289c5af..1776c02 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -24,12 +24,12 @@ if(CATKIN_ENABLE_TESTING)endif()include(CheckCXXCompilerFlag)
-  check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
-  if(COMPILER_SUPPORTS_CXX11)
+  check_cxx_compiler_flag("-std=c++17" COMPILER_SUPPORTS_CXX17)
+  if(COMPILER_SUPPORTS_CXX17)catkin_add_gtest(${PROJECT_NAME}_unique_ptr_test test/unique_ptr_test.cpp)if(TARGET ${PROJECT_NAME}_unique_ptr_test)target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-      set_target_properties(${PROJECT_NAME}_unique_ptr_test PROPERTIES COMPILE_FLAGS -std=c++11 LINK_FLAGS -std=c++11)
+      set_target_properties(${PROJECT_NAME}_unique_ptr_test PROPERTIES COMPILE_FLAGS -std=c++17 LINK_FLAGS -std=c++17)add_dependencies(${PROJECT_NAME}_unique_ptr_test test_plugins)endif()endif()

编译安装ROS noetic和ros_test

cd ~/ros_noetic_base_2204/catkin_pkg && python3 setup.py install
cd ~/ros_noetic_base_2204/rospkg && python3 setup.py install
cd ~/ros_noetic_base_2204/catkin_ws
./src/catkin/bin/catkin_make install \-DCMAKE_BUILD_TYPE=Release \-DPYTHON_EXECUTABLE=/usr/bin/python3./src/catkin/bin/catkin_make install \-DCMAKE_BUILD_TYPE=Release \-DPYTHON_EXECUTABLE=/usr/bin/python3 \run_tests

验证

重新打开一个终端，输入如下命令验证。

source ~/ros_noetic_base_2204/catkin_ws/devel/setup.bash
roscore

参考：
Building ROS Noetic on Ubuntu 22.04