ROS2 Windows安装

这里写自定义目录标题

• ROS2下载
• 源码依赖列表
• 依赖下载并编译
• • 依赖下载
  • 编译
  • 编译MoveIt

ROS2下载

https://github.com/ros2/ros2/releases

• 下载解压后放到 c:\opt\ros2\humble

源码依赖列表

项目	Value
console_bridge	https://github.com/ros/console_bridge.git
angles	https://github.com/ros/angles.git -b humble
bullet	https://github.com/bulletphysics/bullet3.git
eigen_stl_containers	https://github.com/ros/eigen_stl_containers.git -b humble
ccd	https://github.com/danfis/libccd.git
fcl	https://github.com/flexible-collision-library/fcl.git
generate_parameter_library	https://github.com/PickNikRobotics/generate_parameter_library.git
moveit_ros_planning_interface	git clone https://github.com/ros-planning/moveit2.git -b humble

依赖下载并编译

依赖下载

git clone https://github.com/bulletphysics/bullet3.git -b 2.87  #  checkout 到 2.87 版本
cd bullet3

编译

mkdir build && cd build
cmake .. -G "Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=C:\opt\ros2\humble
cmake --build . --config Release --target install

编译MoveIt

colcon build --merge-install --cmake-args -DBULLET_INCLUDE_DIR="C:\ProgramData\chocolatey\lib\bullet\include" -DBULLET_LIBRARY_DIR="C:\ProgramData\chocolatey\lib\bullet\lib"