JetsonNano ROS2 Humble - eiichiromomma/CVMLAB GitHub Wiki
(JetsonNano) ROS2 Humble
RoboStackでROS2 HumbleをJetson Nanoで使う。
配布パッケージ一覧のlinux-aarch64が該当するアーキテクチャで✓のものがバイナリ配布されている。
利点
- Jetson Nano(20.04LTSが上限)でもHumbleが使える(Windows, macOS等でも動く)
- DockerのHumbleよりも充実したROS2パッケージ群
- 関連ライブラリ込みでcondaの仮想環境で閉じた状態にできる
- Gazeboやらnavigation2やらも動く
- 頻繁にパッケージがビルドされ更新されている(欠点でもある)
欠点
- conda環境が強制される
- mambaとはいえconda同様重い
- 通常のROS2の作法と若干異なる(Globalなsetup.bashは使わない)
- 下手にupgradeすると関連ライブラリの更新で依存関係が壊れる
- libprotobufのバージョン依存が放置されてる (最新版を使うとgazeboでspawnできない)
glog==0.6.0: slam-toolboxが動かなくなった- setuptoolsのバージョン(もはや定番)
インストール
Qengineeringの配布のUbuntu20.04を使う。
sudo apt install -y curl
curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh
source ~/.bashrc
conda install mamba -c conda-forge
mamba create -n ros_env python=3.11
mamba activate ros_env
mamba install -c conda-forge mamba-bash-completion
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
conda config --env --remove channels defaults
で，ROS2-Humbleについてはros-humble-desktop-fullというお大尽メタパッケージが存在するが，コンフリクトを起こしそうなのでros-humble-desktopに必要なものを追加する。
mamba install ros-humble-desktop glog==0.6.0 \
compilers cmake pkg-config make ninja \
colcon-common-extensions catkin_tools rosdep \
gazebo ros-humble-gazebo-dev ros-humble-gazebo-msgs \
ros-humble-gazebo-ros-pkgs ros-humble-gazebo-plugins \
ros-humble-gazebo-ros ros-humble-gazebo-ros2-control \
ros-humble-navigation2 ros-humble-slam-toolbox \
ros-humble-cartographer-ros ros-humble-cartographer-ros-msgs \
libprotobuf==4.25.1 cartographer "setuptools<65"
で一通りのインストールが完了する。
動作確認(talkerとlistener)
ROS2での作法のsetup.bashをsourceする代わりに，deactivateして再びactivateする。
mamba deactivate
mamba activate ros_env
※グローバルなsourceをするとPYTHONPATH等で色々とグダグダになるらしい
パッケージ群は~/miniforge3/envs/ros_env/share/にある。
ターミナルその1で
mamba activate ros_env
ros2 run demo_nodes_cpp talker
ターミナルその2で
mamba activate ros_env
ros2 run demo_nodes_cpp listener
で動く。
GazeboでTurtlebot3のシミュレーション
パッケージ群で配布されていないものはwork spaceで作るしかない。ここではnav2_bringupがその例で，欲しいものだけwsのsrcに放り込んでおけば良い。ちなみにwsのsetup.bashはsourceして構わない。
colcon buildの際に，MAKEFLAGS=-j1(make時のスレッドを1に)と，--parallel-workers 1(同時にビルドするパッケージ数)は両方1にしておく。時間はかかるがビルド中にメモリ不足で死なない。
あとROS_DOMAIN_IDは1以上の値で，同一ネットワーク内で他にROS2を使う人が居る場合は被らないようにする。
mamba activate ros_env
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
mkdir -p ~/turtlebot3_ws/src
cd
git clone -b humble https://github.com/ros-navigation/navigation2.git
cp -r navigation2/nav2_bringup ~/turtlebot3_ws/src/
cd ~/turtlebot3_ws/src/
git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations
cd ~/turtlebot3_ws/
MAKEFLAGS=-j1 colcon build --symlink-install --parallel-workers 1
でビルド完了。
ターミナルその1
mamba activate ros_env
cd ~/turtlebot3_ws
source install/setup.bash
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ターミナルその2
mamba activate ros_env
cd ~/turtlebot3_ws
source install/setup.bash
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py
ターミナルその3
mamba activate ros_env
cd ~/turtlebot3_ws
source install/setup.bash
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
ros2 launch nav2_bringup navigation_launch.py
ターミナルその4
mamba activate ros_env
cd ~/turtlebot3_ws
source install/setup.bash
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
ros2 launch slam_toolbox online_async_launch.py
ターミナルその5
mamba activate ros_env
cd ~/turtlebot3_ws
source install/setup.bash
export ROS_DOMAIN_ID=10
export TURTLEBOT3_MODEL=burger
rviz2
でAddのBy topicから適当に選んで可視化する。
動いた状態のmamba list
# packages in environment at /home/jetson/miniforge3/envs/ros_env:
#
# Name Version Build Channel
_openmp_mutex 4.5 2_gnu conda-forge
_sysroot_linux-aarch64_curr_repodata_hack 4 h57d6b7b_16 conda-forge
aiohttp 3.9.5 py311hcd402e7_0 conda-forge
aiosignal 1.3.1 pyhd8ed1ab_0 conda-forge
alsa-lib 1.2.12 h68df207_0 conda-forge
aom 3.8.2 h0425590_0 conda-forge
argcomplete 3.4.0 pyhd8ed1ab_0 conda-forge
assimp 5.3.1 h28f1edd_2 conda-forge
atk-1.0 2.38.0 hf4e84e4_1 conda-forge
attr 2.5.1 h4e544f5_1 conda-forge
attrs 23.2.0 pyh71513ae_0 conda-forge
aws-c-auth 0.7.16 hcac9c52_6 conda-forge
aws-c-cal 0.6.10 h967b9ec_1 conda-forge
aws-c-common 0.9.13 h31becfc_0 conda-forge
aws-c-compression 0.2.18 h00d1b86_1 conda-forge
aws-c-event-stream 0.4.2 h128c7ac_4 conda-forge
aws-c-http 0.8.1 he0aa6e1_5 conda-forge
aws-c-io 0.14.5 h2bbb85f_1 conda-forge
aws-c-mqtt 0.10.2 hf974719_4 conda-forge
aws-c-s3 0.5.2 h170583c_0 conda-forge
aws-c-sdkutils 0.1.15 h00d1b86_1 conda-forge
aws-checksums 0.1.18 h00d1b86_1 conda-forge
aws-crt-cpp 0.26.2 h07bb24a_7 conda-forge
aws-sdk-cpp 1.11.267 hfce6cab_1 conda-forge
azure-core-cpp 1.10.3 hcd87347_1 conda-forge
azure-storage-blobs-cpp 12.10.0 h2a328a1_0 conda-forge
azure-storage-common-cpp 12.5.0 hee0c750_2 conda-forge
bash-completion 2.11 h8af1aa0_1 conda-forge
benchmark 1.8.5 h0a1ffab_0 conda-forge
binutils 2.40 hf1166c9_7 conda-forge
binutils_impl_linux-aarch64 2.40 hf54a868_7 conda-forge
binutils_linux-aarch64 2.40 h1f91aba_0 conda-forge
blosc 1.21.5 h2f3a684_0 conda-forge
boost 1.82.0 h37d12f8_6 conda-forge
boost-cpp 1.82.0 ha990451_6 conda-forge
brotli 1.1.0 h31becfc_1 conda-forge
brotli-bin 1.1.0 h31becfc_1 conda-forge
bullet 3.25 h37d12f8_2 conda-forge
bullet-cpp 3.25 py311h2fc9f9c_2 conda-forge
bzip2 1.0.8 h68df207_7 conda-forge
c-ares 1.32.3 h68df207_0 conda-forge
c-compiler 1.7.0 h31becfc_1 conda-forge
ca-certificates 2024.7.4 hcefe29a_0 conda-forge
cairo 1.18.0 ha13f110_0 conda-forge
cartographer 2.0.0 lua54h0421452_20 conda-forge
catkin_pkg 1.0.0 pyhd8ed1ab_0 conda-forge
catkin_tools 0.9.4 pyhd8ed1ab_0 conda-forge
ceres-solver 2.2.0 h45b26fb_1 conda-forge
certifi 2024.7.4 pyhd8ed1ab_0 conda-forge
cffi 1.16.0 py311h7963103_0 conda-forge
cfitsio 4.3.1 hf28c5f1_0 conda-forge
chrpath 0.16 hf897c2e_1002 conda-forge
cmake 3.28.3 hef020d8_0 conda-forge
colcon-argcomplete 0.3.3 pyhd8ed1ab_0 conda-forge
colcon-bash 0.5.0 pyhd8ed1ab_0 conda-forge
colcon-cd 0.1.1 pyhd8ed1ab_0 conda-forge
colcon-cmake 0.2.28 pyhd8ed1ab_0 conda-forge
colcon-common-extensions 0.3.0 py311hec3470c_1 conda-forge
colcon-core 0.17.1 pyhd8ed1ab_0 conda-forge
colcon-defaults 0.2.8 pyhd8ed1ab_0 conda-forge
colcon-devtools 0.3.0 pyhd8ed1ab_0 conda-forge
colcon-library-path 0.2.1 py_0 conda-forge
colcon-metadata 0.2.5 py_0 conda-forge
colcon-output 0.2.13 pyhd8ed1ab_0 conda-forge
colcon-package-information 0.4.0 pyhd8ed1ab_0 conda-forge
colcon-package-selection 0.2.10 py_0 conda-forge
colcon-parallel-executor 0.2.4 py_0 conda-forge
colcon-pkg-config 0.1.0 py_0 conda-forge
colcon-powershell 0.4.0 pyhd8ed1ab_0 conda-forge
colcon-python-setup-py 0.2.7 py_0 conda-forge
colcon-recursive-crawl 0.2.3 pyhd8ed1ab_0 conda-forge
colcon-ros 0.5.0 pyhd8ed1ab_0 conda-forge
colcon-test-result 0.3.8 py_0 conda-forge
colcon-zsh 0.5.0 pyhd8ed1ab_0 conda-forge
colorama 0.4.6 pyhd8ed1ab_0 conda-forge
coloredlogs 15.0.1 pyhd8ed1ab_3 conda-forge
compilers 1.7.0 h8af1aa0_1 conda-forge
conda-bash-completion 1.7 h8af1aa0_1 conda-forge
console_bridge 1.0.2 hdd96247_1 conda-forge
contourpy 1.2.1 py311h098ece5_0 conda-forge
coreutils 9.5 h31becfc_0 conda-forge
coverage 7.6.0 py311h323e239_0 conda-forge
cppcheck 2.14.2 py311h3ce5689_0 conda-forge
cppzmq 4.10.0 hf1bdad7_1 conda-forge
cryptography 43.0.0 py311h0290c5f_0 conda-forge
cxx-compiler 1.7.0 h2a328a1_1 conda-forge
cycler 0.12.1 pyhd8ed1ab_0 conda-forge
dartsim 6.13.2 haa1888c_1 conda-forge
dav1d 1.2.1 h31becfc_0 conda-forge
dbus 1.13.6 h12b9eeb_3 conda-forge
distlib 0.3.8 pyhd8ed1ab_0 conda-forge
distro 1.9.0 pyhd8ed1ab_0 conda-forge
docutils 0.21.2 pyhd8ed1ab_0 conda-forge
double-conversion 3.3.0 h2f0025b_0 conda-forge
eigen 3.4.0 h2a328a1_0 conda-forge
elfutils 0.189 h682c91b_1 conda-forge
empy 3.3.4 pyh9f0ad1d_1 conda-forge
exceptiongroup 1.2.2 pyhd8ed1ab_0 conda-forge
expat 2.5.0 hd600fc2_1 conda-forge
fcl 0.7.0 h31587c3_4 conda-forge
ffmpeg 6.1.1 gpl_hd8c5532_104 conda-forge
flake8 7.1.0 pyhd8ed1ab_0 conda-forge
flann 1.9.2 hca413ba_0 conda-forge
fmt 10.2.1 h2a328a1_0 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 h77eed37_2 conda-forge
fontconfig 2.14.2 ha9a116f_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
fonttools 4.53.1 py311hf4892ed_0 conda-forge
foonathan-memory 0.7.2 h4de3ea5_1 conda-forge
fortran-compiler 1.7.0 h7048d53_1 conda-forge
freeglut 3.2.2 hf4b6fbe_2 conda-forge
freeimage 3.18.0 h57e7d35_20 conda-forge
freetype 2.12.1 hf0a5ef3_2 conda-forge
freexl 2.0.0 h5428426_0 conda-forge
fribidi 1.0.10 hb9de7d4_0 conda-forge
frozenlist 1.4.1 py311hcd402e7_0 conda-forge
gazebo 11.14.0 hf1b5139_7 conda-forge
gcc 12.4.0 h7e62973_0 conda-forge
gcc_impl_linux-aarch64 12.4.0 hfb8d6db_0 conda-forge
gcc_linux-aarch64 12.4.0 heb3b579_0 conda-forge
gdk-pixbuf 2.42.10 h1db8359_5 conda-forge
geos 3.12.1 h2f0025b_0 conda-forge
geotiff 1.7.1 h3e58e51_15 conda-forge
gettext 0.22.5 h2f0025b_2 conda-forge
gettext-tools 0.22.5 h2f0025b_2 conda-forge
gflags 2.2.2 h54f1f3f_1004 conda-forge
gfortran 12.4.0 h7e62973_0 conda-forge
gfortran_impl_linux-aarch64 12.4.0 h38ad816_0 conda-forge
gfortran_linux-aarch64 12.4.0 hb03c106_0 conda-forge
ghostscript 10.03.1 h2f0025b_0 conda-forge
giflib 5.2.2 h31becfc_0 conda-forge
gl2ps 1.4.2 hdf53a3c_0 conda-forge
glew 2.1.0 h01db608_2 conda-forge
glib 2.78.4 hd84c7bf_0 conda-forge
glib-tools 2.78.4 hd84c7bf_0 conda-forge
glog 0.6.0 h8ab10f1_0 conda-forge
gmock 1.14.0 h8af1aa0_2 conda-forge
gmp 6.3.0 h0a1ffab_2 conda-forge
gnuplot 5.4.8 h1fafa18_0 conda-forge
gnutls 3.7.9 hb309da9_0 conda-forge
graphicsmagick 1.3.43 h18bc9f7_0 conda-forge
graphite2 1.3.13 h2f0025b_1003 conda-forge
graphviz 9.0.0 h65e8cce_1 conda-forge
gst-plugins-base 1.22.9 h6d82d15_0 conda-forge
gstreamer 1.22.9 hed71854_0 conda-forge
gtest 1.14.0 h70be974_2 conda-forge
gtk2 2.24.33 h0d7db29_4 conda-forge
gts 0.7.6 he293c15_4 conda-forge
gxx 12.4.0 h7e62973_0 conda-forge
gxx_impl_linux-aarch64 12.4.0 h2df859d_0 conda-forge
gxx_linux-aarch64 12.4.0 h3f57e68_0 conda-forge
harfbuzz 8.3.0 hebeb849_0 conda-forge
hdf4 4.2.15 hb6ba311_7 conda-forge
hdf5 1.14.3 nompi_hd1676c9_105 conda-forge
humanfriendly 10.0 pyhd8ed1ab_6 conda-forge
icu 73.2 h787c7f5_0 conda-forge
idna 3.7 pyhd8ed1ab_0 conda-forge
imath 3.1.11 hd84c7bf_0 conda-forge
importlib-metadata 8.2.0 pyha770c72_0 conda-forge
importlib_resources 6.4.0 pyhd8ed1ab_0 conda-forge
iniconfig 2.0.0 pyhd8ed1ab_0 conda-forge
jasper 4.2.4 ha25e7e8_0 conda-forge
json-c 0.17 hf9262ea_1 conda-forge
jsoncpp 1.9.5 hd62202e_1 conda-forge
jxrlib 1.1 h31becfc_3 conda-forge
kealib 1.5.3 h8e54105_1 conda-forge
kernel-headers_linux-aarch64 4.18.0 h5b4a56d_16 conda-forge
keyutils 1.6.1 h4e544f5_0 conda-forge
kiwisolver 1.4.5 py311h0d5d7b0_1 conda-forge
krb5 1.21.3 h50a48e9_0 conda-forge
lame 3.100 h4e544f5_1003 conda-forge
lark-parser 0.12.0 pyhd8ed1ab_0 conda-forge
lcms2 2.16 h922389a_0 conda-forge
ld_impl_linux-aarch64 2.40 h9fc2d93_7 conda-forge
lerc 4.0.0 h4de3ea5_0 conda-forge
libabseil 20230802.1 cxx17_h2f0025b_0 conda-forge
libacl 2.3.2 h883460d_0 conda-forge
libaec 1.1.3 h2f0025b_0 conda-forge
libarchive 3.7.4 h2c0effa_0 conda-forge
libasprintf 0.22.5 h7b6a552_2 conda-forge
libasprintf-devel 0.22.5 h7b6a552_2 conda-forge
libass 0.17.1 h36b5d3b_1 conda-forge
libblas 3.9.0 23_linuxaarch64_openblas conda-forge
libboost 1.82.0 h133f18d_6 conda-forge
libboost-devel 1.82.0 h37bb5a9_6 conda-forge
libboost-headers 1.82.0 h8af1aa0_6 conda-forge
libboost-python 1.82.0 py311hec5c23b_6 conda-forge
libboost-python-devel 1.82.0 py311h37d12f8_6 conda-forge
libbrotlicommon 1.1.0 h31becfc_1 conda-forge
libbrotlidec 1.1.0 h31becfc_1 conda-forge
libbrotlienc 1.1.0 h31becfc_1 conda-forge
libcap 2.69 h883460d_0 conda-forge
libcblas 3.9.0 23_linuxaarch64_openblas conda-forge
libccd-double 2.1 h2f0025b_3 conda-forge
libclang 15.0.7 default_hb368394_5 conda-forge
libclang13 15.0.7 default_hf9b4efe_5 conda-forge
libcrc32c 1.1.2 h01db608_0 conda-forge
libcups 2.3.3 h405e4a8_4 conda-forge
libcurl 8.8.0 h4e8248e_1 conda-forge
libdeflate 1.19 h31becfc_0 conda-forge
libedit 3.1.20191231 he28a2e2_2 conda-forge
libev 4.33 h31becfc_2 conda-forge
libevent 2.1.12 h4ba1bb4_1 conda-forge
libexpat 2.5.0 hd600fc2_1 conda-forge
libffi 3.4.2 h3557bc0_5 conda-forge
libflac 1.4.3 h2f0025b_0 conda-forge
libgcc-devel_linux-aarch64 12.4.0 h7b3af7c_100 conda-forge
libgcc-ng 14.1.0 he277a41_0 conda-forge
libgcrypt 1.11.0 h68df207_1 conda-forge
libgd 2.3.3 hcd22fd5_9 conda-forge
libgdal 3.8.4 h79c3f81_0 conda-forge
libgettextpo 0.22.5 h2f0025b_2 conda-forge
libgettextpo-devel 0.22.5 h2f0025b_2 conda-forge
libgfortran-ng 14.1.0 he9431aa_0 conda-forge
libgfortran5 14.1.0 h9420597_0 conda-forge
libglib 2.78.4 h311d5f7_0 conda-forge
libglu 9.0.0 hf4b6fbe_1003 conda-forge
libgomp 14.1.0 he277a41_0 conda-forge
libgoogle-cloud 2.21.0 h7d2b840_1 conda-forge
libgoogle-cloud-storage 2.21.0 hdb39181_1 conda-forge
libgpg-error 1.50 hb13efb6_0 conda-forge
libgrpc 1.60.1 heeb7df3_0 conda-forge
libhwloc 2.11.1 default_h3030c0e_1000 conda-forge
libiconv 1.17 h31becfc_2 conda-forge
libidn2 2.3.7 h31becfc_0 conda-forge
libignition-cmake2 2.17.2 h0a1ffab_0 conda-forge
libignition-common3 3.15.1 hcd524ad_3 conda-forge
libignition-fuel-tools4 4.6.0 h87fe794_7 conda-forge
libignition-math6 6.15.1 py311h41a1a96_1 conda-forge
libignition-msgs5 5.11.0 h224387d_7 conda-forge
libignition-tools1 1.5.0 h184faee_3 conda-forge
libignition-transport8 8.4.0 hbb8f47e_9 conda-forge
libjpeg-turbo 3.0.0 h31becfc_1 conda-forge
libkml 1.3.0 h7d16752_1018 conda-forge
liblapack 3.9.0 23_linuxaarch64_openblas conda-forge
liblapacke 3.9.0 23_linuxaarch64_openblas conda-forge
libllvm15 15.0.7 hb4f23b0_4 conda-forge
libmicrohttpd 0.9.77 h580adf7_0 conda-forge
libnetcdf 4.9.2 nompi_h9180261_114 conda-forge
libnghttp2 1.58.0 hb0e430d_1 conda-forge
libnsl 2.0.1 h31becfc_0 conda-forge
libode 0.16.2 py311h8715677_14 conda-forge
libogg 1.3.5 h0b9eccb_0 conda-forge
libopenblas 0.3.27 pthreads_h076ed1e_1 conda-forge
libopencv 4.9.0 py311h5435783_7 conda-forge
libopenvino 2023.3.0 h3e0449b_1 conda-forge
libopenvino-arm-cpu-plugin 2023.3.0 h3e0449b_1 conda-forge
libopenvino-auto-batch-plugin 2023.3.0 hd429f41_1 conda-forge
libopenvino-auto-plugin 2023.3.0 hd429f41_1 conda-forge
libopenvino-hetero-plugin 2023.3.0 hc6dd956_1 conda-forge
libopenvino-ir-frontend 2023.3.0 hc6dd956_1 conda-forge
libopenvino-onnx-frontend 2023.3.0 hb0b24c1_1 conda-forge
libopenvino-paddle-frontend 2023.3.0 hb0b24c1_1 conda-forge
libopenvino-pytorch-frontend 2023.3.0 h2f0025b_1 conda-forge
libopenvino-tensorflow-frontend 2023.3.0 h5dc61ae_1 conda-forge
libopenvino-tensorflow-lite-frontend 2023.3.0 h2f0025b_1 conda-forge
libopus 1.3.1 hf897c2e_1 conda-forge
libpng 1.6.43 h194ca79_0 conda-forge
libpq 16.3 hcf0348d_0 conda-forge
libprotobuf 4.25.1 h87e877f_2 conda-forge
libraw 0.21.1 hb6ba311_2 conda-forge
libre2-11 2023.09.01 hf48c5ca_1 conda-forge
librsvg 2.56.3 h4341b47_1 conda-forge
librttopo 1.1.0 hd8968fb_15 conda-forge
libsanitizer 12.4.0 h469570c_0 conda-forge
libsdformat 9.8.0 h81027c5_6 conda-forge
libsndfile 1.2.2 h79657aa_1 conda-forge
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