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| --- | ||
| last_modified_date: 26/02/2022 | ||
| layout: default | ||
| title: Install on Ubuntu 22.04 Jammy | ||
| nav_order: 2 | ||
| parent: Installation | ||
| --- | ||
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| This tutorial is to install directly on **Ubuntu 22.04 Jammy**. | ||
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| ## Install ROS Noetic on Ubuntu 22.04 [Ref](https://github.com/tinkerfuroc/ros_noetic_on_jammy) | ||
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| Since the ROS Noetic only officialy support Ubuntu 20.04, we need to add ROS 2 source. | ||
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| ```bash | ||
| sudo apt-get update && sudo apt-get install -y curl | ||
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | ||
| sudo apt-get update | ||
| ``` | ||
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| Install basic dependencies | ||
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| ```bash | ||
| sudo apt-get install -y python3-pip python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential python3-numpy | ||
| sudo pip3 install -U rosdep rosinstall_generator vcstool | ||
| sudo pip3 install --upgrade setuptools | ||
| sudo apt-get install -y build-essential | ||
| sudo apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libfltk1.3-dev | ||
| ``` | ||
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| Prepare rosdep and installation workspace | ||
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| ```bash | ||
| # Initiate Rosdep | ||
| rosdep init | ||
| rosdep update | ||
| # Make workspace | ||
| mkdir ~/ros_catkin_ws | ||
| cd ~/ros_catkin_ws | ||
| # Download source script | ||
| rosinstall_generator desktop_full --rosdistro noetic --deps --tar > noetic-desktop-full.rosinstall | ||
| # Download sources from source script | ||
| mkdir ./src | ||
| vcs import --input noetic-desktop-full.rosinstall ./src | ||
| ``` | ||
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| Patch source code and install dependencies | ||
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| ```bash | ||
| # Patch source | ||
| sed -i -e s/"<run_depend>hddtemp<\/run_depend>"/"<\!-- <run_depend>hddtemp<\/run_depend> -->"/g ./src/diagnostics/diagnostic_common_diagnostics/package.xml | ||
| # Install dependencies with rosdep | ||
| rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y | ||
| ``` | ||
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| Patch source code to compile | ||
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| ```bash | ||
| sed -i -e s/"COMPILER_SUPPORTS_CXX11"/"COMPILER_SUPPORTS_CXX17"/g ./src/geometry/tf/CMakeLists.txt | ||
| sed -i -e s/"c++11"/"c++17"/g ./src/geometry/tf/CMakeLists.txt | ||
| sed -i -e s/"CMAKE_CXX_STANDARD 14"/"CMAKE_CXX_STANDARD 17"/g ./src/kdl_parser/kdl_parser/CMakeLists.txt | ||
| sed -i -e s/"CMAKE_CXX_STANDARD 11"/"CMAKE_CXX_STANDARD 17"/g ./src/laser_geometry/CMakeLists.txt | ||
| sed -i -e s/"c++11"/"c++17"/g ./src/resource_retriever/CMakeLists.txt | ||
| sed -i -e s/"COMPILER_SUPPORTS_CXX11"/"COMPILER_SUPPORTS_CXX17"/g ./src/robot_state_publisher/CMakeLists.txt | ||
| sed -i -e s/"c++11"/"c++17"/g ./src/robot_state_publisher/CMakeLists.txt | ||
| sed -i -e s/"c++11"/"c++17"/g ./src/rqt_image_view/CMakeLists.txt | ||
| sed -i -e s/"CMAKE_CXX_STANDARD 14"/"CMAKE_CXX_STANDARD 17"/g ./src/urdf/urdf/CMakeLists.txt | ||
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| sed -i -e s/"CMAKE_CXX_STANDARD 14"/"CMAKE_CXX_STANDARD 17"/g ./src/perception_pcl/pcl_ros/CMakeLists.txt | ||
| sed -i -e s/"c++14"/"c++17"/g ./src/perception_pcl/pcl_ros/CMakeLists.txt | ||
| sed -i -e s/"CMAKE_CXX_STANDARD 11"/"CMAKE_CXX_STANDARD 17"/g ./src/laser_filters/CMakeLists.txt | ||
| ``` | ||
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| Replace rosconsole | ||
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| ```bash | ||
| rm -rf ./src/rosconsole | ||
| cd src | ||
| git clone https://github.com/tatsuyai713/rosconsole | ||
| cd .. | ||
| ``` | ||
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| Build (This could take upto 30 minutes) | ||
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| ```bash | ||
| ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release | ||
| ``` | ||
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| Source it to use it. You may add this at `~/.bashrc` to set it as default. | ||
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| ```bash | ||
| source ~/ros_catkin_ws/install_isolated/setup.bash | ||
| ``` |
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