Hood NUC Melih ROS2 Navigation 2 Install
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Contents
Context
January 18, 2020
Reference
- Intel TB3 Tutorial: The Melih tutorial instructions.
See Melih's tutorial section "Navigation 2 Installation Steps"
The following was already installed previously.
sudo apt-get install -y \
libsdl-image1.2 \
libsdl-image1.2-dev \
libsdl1.2debian \
libsdl1.2-devSee
Hood ROS2 Melih Navigation 2 Dependencies Log
eepp@hood:~$ cd ros2_all_ws eepp@hood:ros2_all_ws$ mkdir -p navstack_dependencies_ws/src eepp@hood:ros2_all_ws$ mkdir -p navigation2_ws/src
eepp@hood:ros2_all_ws$ cd ~/ros2_all_ws/navstack_dependencies_ws epp@hood:navstack_dependencies_ws$ wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/ros2_dependencies.repos --2020-01-18 09:21:01-- https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/ros2_dependencies.repos Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.52.133 Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|151.101.52.133|:443... connected. HTTP request sent, awaiting response... 200 OK Length: 551 [text/plain] Saving to: ‘ros2_dependencies.repos’ ros2_dependencies.r 100%[===================>] 551 --.-KB/s in 0s 2020-01-18 09:21:01 (30.7 MB/s) - ‘ros2_dependencies.repos’ saved [551/551] eepp@hood:navstack_dependencies_ws$ vcs import src < ros2_dependencies.repos ..... === src/BehaviorTree.CPP (git) === Cloning into '.'... Note: checking out 'ros2-3.1.1'. You are in 'detached HEAD' state. You can look around, make experimental changes and commit them, and you can discard any commits you make in this state without impacting any branches by performing another checkout. If you want to create a new branch to retain commits you create, you may do so (now or later) by using -b with the checkout command again. Example: git checkout -b <new-branch-name> HEAD is now at 47d770c switch from catkin (ROS1) to ament (ROS2) === src/angles (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/gazebo_ros_pkgs (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/image_common (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/vision_opencv (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. eepp@hood:navstack_dependencies_ws$ ls src/ angles BehaviorTree.CPP gazebo_ros_pkgs image_common vision_opencv eepp@hood:navstack_dependencies_ws$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro dashing --skip-keys "catkin" executing command [sudo -H apt-get install -y -qq python3-opencv] [sudo] password for eepp: Selecting previously unselected package python3-opencv. (Reading database ... 275939 files and directories currently installed.) Preparing to unpack .../python3-opencv_3.2.0+dfsg-4ubuntu0.1_amd64.deb ... Unpacking python3-opencv (3.2.0+dfsg-4ubuntu0.1) ... Setting up python3-opencv (3.2.0+dfsg-4ubuntu0.1) ... #All required rosdeps installed successfully eepp@hood:navstack_dependencies_ws$ source ~/ros2_all_ws/ros2_ws/install/setup.bash ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions. eepp@hood:navstack_dependencies_ws$ colcon build --symlink-install Starting >>> camera_calibration_parsers Starting >>> cv_bridge Starting >>> image_transport Starting >>> gazebo_dev Finished <<< gazebo_dev [4.71s] Starting >>> gazebo_msgs Finished <<< camera_calibration_parsers [33.9s] Starting >>> image_geometry [Processing: cv_bridge, gazebo_msgs, image_geometry, image_transport] Finished <<< image_geometry [31.4s] Starting >>> angles Finished <<< angles [4.51s] Starting >>> behaviortree_cpp_v3 Finished <<< cv_bridge [1min 20s] Starting >>> opencv_tests Finished <<< opencv_tests [4.37s] Starting >>> vision_opencv Finished <<< vision_opencv [4.83s] Finished <<< image_transport [1min 51s] Starting >>> camera_info_manager Finished <<< camera_info_manager [11.3s] Starting >>> image_common Finished <<< image_common [4.54s] [Processing: behaviortree_cpp_v3, gazebo_msgs] Finished <<< behaviortree_cpp_v3 [1min 48s] [Processing: gazebo_msgs] [Processing: gazebo_msgs] Finished <<< gazebo_msgs [3min 53s] Starting >>> gazebo_ros [Processing: gazebo_ros] [Processing: gazebo_ros] [Processing: gazebo_ros] [Processing: gazebo_ros] Finished <<< gazebo_ros [2min 11s] Starting >>> gazebo_plugins [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] [Processing: gazebo_plugins] Finished <<< gazebo_plugins [5min 57s] Starting >>> gazebo_ros_pkgs Finished <<< gazebo_ros_pkgs [2.52s] Summary: 15 packages finished [12min 8s]
eepp@hood:navstack_dependencies_ws$ cd ~/ros2_all_ws/navigation2_ws/src eepp@hood:src$ git clone https://github.com/ros-planning/navigation2.git Cloning into 'navigation2'... remote: Enumerating objects: 145, done. remote: Counting objects: 100% (145/145), done. remote: Compressing objects: 100% (86/86), done. remote: Total 18359 (delta 75), reused 98 (delta 52), pack-reused 18214 Receiving objects: 100% (18359/18359), 35.32 MiB | 9.44 MiB/s, done. Resolving deltas: 100% (12012/12012), done. eepp@hood:src$ cd ~/ros2_all_ws/navigation2_ws eepp@hood:navigation2_ws$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro dashing WARNING: given --rosdistro dashing but ROS_DISTRO is "foxy". Ignoring environment. executing command [sudo -H apt-get install -y -qq ros-dashing-behaviortree-cpp-v3] [sudo] password for eepp: Selecting previously unselected package ros-dashing-behaviortree-cpp-v3. (Reading database ... 275943 files and directories currently installed.) Preparing to unpack .../ros-dashing-behaviortree-cpp-v3_3.1.1-1bionic.20191205.182801_amd64.deb ... Unpacking ros-dashing-behaviortree-cpp-v3 (3.1.1-1bionic.20191205.182801) ... Setting up ros-dashing-behaviortree-cpp-v3 (3.1.1-1bionic.20191205.182801) ... executing command [sudo -H apt-get install -y -qq libgraphicsmagick++1-dev] Selecting previously unselected package bzip2-doc. (Reading database ... 276029 files and directories currently installed.) Preparing to unpack .../0-bzip2-doc_1.0.6-8.1ubuntu0.2_all.deb ... Unpacking bzip2-doc (1.0.6-8.1ubuntu0.2) ... Selecting previously unselected package libbz2-dev:amd64. Preparing to unpack .../1-libbz2-dev_1.0.6-8.1ubuntu0.2_amd64.deb ... Unpacking libbz2-dev:amd64 (1.0.6-8.1ubuntu0.2) ... Selecting previously unselected package libgraphicsmagick-q16-3. Preparing to unpack .../2-libgraphicsmagick-q16-3_1.3.28-2ubuntu0.1_amd64.deb ... Unpacking libgraphicsmagick-q16-3 (1.3.28-2ubuntu0.1) ... Selecting previously unselected package libgraphicsmagick++-q16-12. Preparing to unpack .../3-libgraphicsmagick++-q16-12_1.3.28-2ubuntu0.1_amd64.deb ... Unpacking libgraphicsmagick++-q16-12 (1.3.28-2ubuntu0.1) ... Selecting previously unselected package liblcms2-dev:amd64. Preparing to unpack .../4-liblcms2-dev_2.9-1ubuntu0.1_amd64.deb ... Unpacking liblcms2-dev:amd64 (2.9-1ubuntu0.1) ... Selecting previously unselected package libwmf-dev. Preparing to unpack .../5-libwmf-dev_0.2.8.4-12_amd64.deb ... Unpacking libwmf-dev (0.2.8.4-12) ... Selecting previously unselected package libgraphicsmagick1-dev. Preparing to unpack .../6-libgraphicsmagick1-dev_1.3.28-2ubuntu0.1_amd64.deb ... Unpacking libgraphicsmagick1-dev (1.3.28-2ubuntu0.1) ... Selecting previously unselected package libgraphicsmagick++1-dev. Preparing to unpack .../7-libgraphicsmagick++1-dev_1.3.28-2ubuntu0.1_amd64.deb ... Unpacking libgraphicsmagick++1-dev (1.3.28-2ubuntu0.1) ... Setting up libwmf-dev (0.2.8.4-12) ... Setting up libbz2-dev:amd64 (1.0.6-8.1ubuntu0.2) ... Setting up liblcms2-dev:amd64 (2.9-1ubuntu0.1) ... Setting up libgraphicsmagick-q16-3 (1.3.28-2ubuntu0.1) ... Setting up bzip2-doc (1.0.6-8.1ubuntu0.2) ... Setting up libgraphicsmagick++-q16-12 (1.3.28-2ubuntu0.1) ... Setting up libgraphicsmagick1-dev (1.3.28-2ubuntu0.1) ... Setting up libgraphicsmagick++1-dev (1.3.28-2ubuntu0.1) ... Processing triggers for man-db (2.8.3-2ubuntu0.1) ... Processing triggers for install-info (6.5.0.dfsg.1-2) ... Processing triggers for libc-bin (2.27-3ubuntu1) ... executing command [sudo -H apt-get install -y -qq lcov] Selecting previously unselected package lcov. (Reading database ... 276306 files and directories currently installed.) Preparing to unpack .../archives/lcov_1.13-3_all.deb ... Unpacking lcov (1.13-3) ... Selecting previously unselected package libgd-perl. Preparing to unpack .../libgd-perl_2.66-1build1_amd64.deb ... Unpacking libgd-perl (2.66-1build1) ... Setting up libgd-perl (2.66-1build1) ... Setting up lcov (1.13-3) ... Processing triggers for man-db (2.8.3-2ubuntu0.1) ... #All required rosdeps installed successfully eepp@hood:navigation2_ws$ source ~/ros2_all_ws/ros2_ws/install/setup.bash ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions. ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions. eepp@hood:navigation2_ws$ source ~/ros2_all_ws/navstack_dependencies_ws/install/setup.bash ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions. ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions. eepp@hood:navigation2_ws$ colcon build --symlink-install Starting >>> nav2_common Starting >>> nav_2d_msgs Starting >>> nav2_gazebo_spawner Finished <<< nav2_common [2.76s] Starting >>> nav2_msgs Starting >>> nav2_voxel_grid Finished <<< nav2_gazebo_spawner [3.62s] [Processing: nav2_msgs, nav2_voxel_grid, nav_2d_msgs] Finished <<< nav2_voxel_grid [36.6s] Finished <<< nav_2d_msgs [44.2s] Starting >>> dwb_msgs [Processing: dwb_msgs, nav2_msgs] Finished <<< dwb_msgs [54.4s] Finished <<< nav2_msgs [1min 47s] Starting >>> nav2_util [Processing: nav2_util] Finished <<< nav2_util [46.1s] Starting >>> nav_2d_utils Starting >>> nav2_behavior_tree Starting >>> nav2_lifecycle_manager Starting >>> nav2_map_server Finished <<< nav_2d_utils [23.1s] Starting >>> nav2_amcl Finished <<< nav2_lifecycle_manager [42.5s] Starting >>> nav2_waypoint_follower Finished <<< nav2_map_server [1min 12s] Starting >>> nav2_costmap_2d Finished <<< nav2_waypoint_follower [33.2s] Starting >>> nav2_rviz_plugins Finished <<< nav2_amcl [1min 6s] [Processing: nav2_behavior_tree, nav2_costmap_2d, nav2_rviz_plugins] Finished <<< nav2_rviz_plugins [58.3s] [Processing: nav2_behavior_tree, nav2_costmap_2d] Finished <<< nav2_behavior_tree [2min 56s] Starting >>> nav2_bt_navigator [Processing: nav2_bt_navigator, nav2_costmap_2d] Finished <<< nav2_bt_navigator [41.3s] Finished <<< nav2_costmap_2d [2min 51s] Starting >>> nav2_core Starting >>> costmap_queue Finished <<< nav2_core [5.85s] Starting >>> dwb_core Starting >>> nav2_controller Starting >>> nav2_navfn_planner [Processing: costmap_queue, dwb_core, nav2_controller, nav2_navfn_planner] Finished <<< costmap_queue [38.1s] Starting >>> nav2_planner Finished <<< nav2_navfn_planner [39.9s] Starting >>> nav2_recoveries Finished <<< dwb_core [58.7s] Starting >>> dwb_critics Finished <<< nav2_controller [1min 14s] Starting >>> dwb_plugins [Processing: dwb_critics, dwb_plugins, nav2_planner, nav2_recoveries] Finished <<< nav2_planner [1min 12s] [Processing: dwb_critics, dwb_plugins, nav2_recoveries] Finished <<< dwb_critics [1min 31s] Finished <<< dwb_plugins [1min 33s] Starting >>> nav2_dwb_controller Finished <<< nav2_dwb_controller [6.36s] Finished <<< nav2_recoveries [2min 30s] Starting >>> navigation2 Finished <<< navigation2 [3.00s] Starting >>> nav2_bringup Finished <<< nav2_bringup [3.44s] Starting >>> nav2_system_tests [Processing: nav2_system_tests] [Processing: nav2_system_tests] Finished <<< nav2_system_tests [1min 29s] Summary: 29 packages finished [11min 31s]
