ROS 2 Foxy Fitzroy (hereinafter referred to as Foxy) was officially released on June 5, 2020. It is an LTS version and is supported until May 2023. This article is mainly based on the official compilation and installation tutorial [1] Complete and document any problems encountered during compilation.

Make sure that the system locale supports UTF-8. Run locale on the terminal to view.

If UTF-8 is not supported, run the following code

1) Using apt command to authenticate GPG key

You may encounter ros.asc Can't download.

2) Add warehouse to source list

It is recommended to use the domestic Tsinghua ROS 2 image:

You can also use the official ROS 2 warehouse, which may be slow.

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget
# install some pip packages needed for testing
python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
  libcunit1-dev

Create the workspace and get the ROS 2 code.

If fast DDS cannot be downloaded normally, download and unzip to ~ / ros2 by yourself_ foxy/src/eProsima/Fast-DDS.

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"

cd ~/ros2_foxy/
colcon build --symlink-install

The problems encountered during compilation are as follows:

ExternalProject_Add(ext-singleproducerconsumer
  PREFIX singleproducerconsumer
  #DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
  #URL https://github.com/cameron314/readerwriterqueue/archive/ef7dfbf553288064347d51b8ac335f1ca489032a.zip
  #Self modification `path-to-file', zip See attachment for documents readerwriterqueue-ef7dfbf553288064347d51b8ac335f1ca489032a.zip
  URL /path-to-file/readerwriterqueue-ef7dfbf553288064347d51b8ac335f1ca489032a.zip
  URL_MD5 64c673dd381b8fae9254053ad7b2be4d
  #TIMEOUT 60
  INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
  CONFIGURE_COMMAND ""
  BUILD_COMMAND ""
  INSTALL_COMMAND ""
  )

# Concurrent and blocking concurrent queue by moodycamel - header only, don't build, install
ExternalProject_Add(ext-concurrentqueue
  PREFIX concurrentqueue
  #DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download
  #URL https://github.com/cameron314/concurrentqueue/archive/8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
  # Self modification `path-to-file', zip See attachment for documents concurrentqueue-8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
  URL /path-to-file/concurrentqueue-8f65a8734d77c3cc00d74c0532efca872931d3ce.zip
  URL_MD5 71a0d932cc89150c2ade85f0d9cac9dc
  #TIMEOUT 60
  INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
  CONFIGURE_COMMAND ""
  BUILD_COMMAND ""
  INSTALL_COMMAND ""
  )  

ExternalProject_Add(zlib-1.2.11
    #URL https://www.zlib.net/fossils/zlib-1.2.11.tar.gz
    #Self modification `path-to-file', zip See attachment for documents zlib-1.2.11.tar.gz
    URL /path-to-file/zlib-1.2.11.tar.gz
    URL_MD5 1c9f62f0778697a09d36121ead88e08e
    #TIMEOUT 600
    LOG_CONFIGURE ${should_log}
    LOG_BUILD ${should_log}
    CMAKE_ARGS
      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/zlib-install
      ${extra_cmake_args}
      -Wno-dev
  )

ExternalProject_Add(ogre-v1.12.1
#    URL https://github.com/OGRECave/ogre/archive/v1.12.1.zip
    #Self modification `path-to-file', zip See attachment for documents external_projects/ogre-1.12.1.zip
    URL /path-to-file/ogre-1.12.1.zip
    URL_MD5 cdbea4006d223c173e0a93864111b936
#    TIMEOUT 1200
    LOG_CONFIGURE ${should_log}
    LOG_BUILD ${should_log}
    CMAKE_ARGS
      -DOGRE_STATIC:BOOL=OFF
      -DOGRE_DEPENDENCIES_DIR=${CMAKE_CURRENT_BINARY_DIR}/ogredeps
      -DOGRE_INSTALL_PDB:BOOL=OFF
      -DOGRE_BUILD_DEPENDENCIES:BOOL=OFF
      -DOGRE_BUILD_TESTS:BOOL=OFF
      -DOGRE_BUILD_SAMPLES:BOOL=FALSE
      -DOGRE_INSTALL_SAMPLES:BOOL=FALSE
      -DOGRE_INSTALL_SAMPLES_SOURCE:BOOL=FALSE
      -DOGRE_CONFIG_THREADS:STRING=0
      -DOGRE_RESOURCEMANAGER_STRICT:STRING=2
      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/ogre_install
      -DOGRE_BUILD_LIBS_AS_FRAMEWORKS:BOOL=OFF
      -DOGRE_BUILD_COMPONENT_PYTHON:BOOL=FALSE
      -DOGRE_BUILD_COMPONENT_JAVA:BOOL=FALSE
      -DOGRE_BUILD_COMPONENT_CSHARP:BOOL=FALSE
      -DOGRE_BUILD_COMPONENT_BITES:BOOL=FALSE
      ${extra_cmake_args}
      -Wno-dev
    PATCH_COMMAND
      ${Patch_EXECUTABLE} -p1 -N < ${CMAKE_CURRENT_SOURCE_DIR}/pragma-patch.diff
    COMMAND
      ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/FindFreetype.cmake ${CMAKE_CURRENT_BINARY_DIR}/ogre-v1.12.1-prefix/src/ogre-v1.12.1/CMake/Packages/FindFreetype.cmake
  )  

externalproject_add(foo_mem-ext
  #GIT_REPOSITORY foonathan/memory
  #GIT_TAG c619113
  #TIMEOUT 600
  #Self modification `path-to-file', zip See attachment for documents memory-master.zip
  URL /path-to-file/memory-master.zip
  URL_MD5 9fcf2cf8c63d9c74bf3d0c58ca98bf71
  # Avoid the update (git pull) and so the recompilation of foonathan_memory library each time.
  UPDATE_COMMAND ""
  CMAKE_ARGS
    -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF
    -DFOONATHAN_MEMORY_BUILD_TESTS=OFF
    -DFOONATHAN_MEMORY_BUILD_TOOLS=ON
    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/foo_mem_ext_prj_install
    ${extra_cmake_args}
    -Wno-dev
    ${PATCH_COMMAND_STR}
  )

ExternalProject_Add(zstd-1.4.4
    #URL https://github.com/facebook/zstd/archive/v1.4.4.zip
    #Self modification `path-to-file', zip See attachment for documents zstd-1.4.4.zip
    URL /path-to-file/zstd-1.4.4.zip
    URL_MD5 3a5c3a535280b7f4dfdbd739fcc7173f
    #TIMEOUT 60
    SOURCE_SUBDIR build/cmake
    CMAKE_ARGS
      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
      -DZSTD_BUILD_STATIC=OFF
      -DZSTD_BUILD_SHARED=ON
      -DZSTD_BUILD_PROGRAMS=OFF
      ${extra_cmake_args})

Open the file ~ /. bashrc and add it at the end of the file, so that the source command will be executed automatically every time the terminal is opened.

source ~/ros2_foxy/install/setup.bash

Open a terminal and run talker written in C + +:

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener

The API of C + + and Python can work normally.