在 openEuler 22.03 SP2 上安装 ROS humble

SiHuaN in ros

openEuler 22.03 SP2 即将发布，SP2 版本引入了 ROS humble 的支持，可以方便的使用 dnf install ros-humble-xxx 来安装 ros 包。下面是在 QEMU 虚拟机上进行的步骤演示~

以下使用 rc6 版本进行演示，正式版发布后，可省略更换软件源的步骤

  1. 下载 openEuler 虚拟机镜像，可前往此处查看

    axel -n 64 http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/virtual_machine_img/x86_64/openEuler-22.03-LTS-SP2-x86_64.qcow2.xz
# 解压
unxz openEuler-22.03-LTS-SP2-x86_64.qcow2.xz

    Tips: 使用 axel 等多线程下载工具可以显著提升下载速度

  2. 启动 openEuler 虚拟机

    以下脚本可以方便的使用 qemu-system-x86 启动虚拟机并配置好端口映射，方便 使用 ssh 连入。

    #!/usr/bin/env bash

# The script is created for starting a riscv64 qemu virtual machine with specific parameters.

RESTORE=$(echo -en '\001\033[0m\002')
YELLOW=$(echo -en '\001\033[00;33m\002')

## Configuration
vcpu=8
memory=16
memory_append=`expr $memory \* 1024`
drive="$(ls *.qcow2)"
ssh_port=12055

cmd="qemu-system-x86_64 \
  -smp "$vcpu" -m "$memory"G \
  -drive file="$drive",format=qcow2,id=hd0 \
  -nic user,model=virtio,hostfwd=tcp::"$ssh_port"-:22"

echo ${YELLOW}:: Starting VM...${RESTORE}
echo ${YELLOW}:: Using following configuration${RESTORE}
echo ""
echo ${YELLOW}vCPU Cores: "$vcpu"${RESTORE}
echo ${YELLOW}Memory: "$memory"G${RESTORE}
echo ${YELLOW}Disk: "$drive"${RESTORE}
echo ${YELLOW}SSH Port: "$ssh_port"${RESTORE}
echo ""
echo ${YELLOW}:: NOTE: Make sure ONLY ONE .qcow2 file is${RESTORE}
echo ${YELLOW}in the current directory${RESTORE}
echo ""
echo ${YELLOW}:: Tip: Try setting DNS manually if QEMU user network doesn\'t work well. ${RESTORE}
echo ${YELLOW}:: HOWTO -\> https://serverfault.com/a/810639 ${RESTORE}
echo ""

sleep 2

eval $cmd

    将上诉脚本保存至镜像文件同目录，并添加可执行权限，然后执行此脚本就可以启动 openEuler 虚拟机，虚拟机的 22 号端口被映射到本机的 12055号端口。

  3. 配置软件源

    使用 ssh 登入虚拟机 root 账户，其密码是 openEuler12#$

    配置软件源，编辑 /etc/yum.repos.d/openEuler.repo 文件，更换为以下内容：

    #generic-repos is licensed under the Mulan PSL v2.
#You can use this software according to the terms and conditions of the Mulan PSL v2.
#You may obtain a copy of Mulan PSL v2 at:
#    http://license.coscl.org.cn/MulanPSL2
#THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, EITHER EXPRESS OR
#IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, MERCHANTABILITY OR FIT FOR A PARTICULAR
#PURPOSE.
#See the Mulan PSL v2 for more details.

[OS]
name=OS
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/OS/$basearch/
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/OS/$basearch/RPM-GPG-KEY-openEuler

[everything]
name=everything
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/everything/$basearch/
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/everything/$basearch/RPM-GPG-KEY-openEuler

[EPOL]
name=EPOL
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/EPOL/main/$basearch/
metalink=https://mirrors.openeuler.org/metalink?repo=$releasever/EPOL/main&arch=$basearch
metadata_expire=1h
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/OS/$basearch/RPM-GPG-KEY-openEuler

[debuginfo]
name=debuginfo
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/debuginfo/$basearch/
metalink=https://mirrors.openeuler.org/metalink?repo=$releasever/debuginfo&arch=$basearch
metadata_expire=1h
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/debuginfo/$basearch/RPM-GPG-KEY-openEuler

[source]
name=source
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/source/
metalink=https://mirrors.openeuler.org/metalink?repo=$releasever&arch=source
metadata_expire=1h
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/source/RPM-GPG-KEY-openEuler

[update]
name=update
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/update/$basearch/
metalink=https://mirrors.openeuler.org/metalink?repo=$releasever/update&arch=$basearch
metadata_expire=1h
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/OS/$basearch/RPM-GPG-KEY-openEuler

[update-source]
name=update-source
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/update/source/
metalink=https://mirrors.openeuler.org/metalink?repo=$releasever/update&arch=source
metadata_expire=1h
enabled=1
gpgcheck=1
gpgkey=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/rc6_openeuler-2023-06-29-20-25-36/source/RPM-GPG-KEY-openEuler

    Tips: 正式版发布后可以跳过上述修改步骤

    安装 openeuler-ros 包，这个包的作用是帮助配置 ROS humble 的软件源

    dnf install openeuler-ros

    安装完成后需要修改 /etc/yum.repos.d/openEulerROS.repo 文件，改为一下内容

    [openEulerROS-humble]
name=openEulerROS-humble
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/openeuler-2023-06-29-20-25-36/EPOL/multi_version/ROS/humble/$basearch/
enabled=1
gpgcheck=0

[openEulerROS-humble-source]
name=openEulerROS-humble-source
baseurl=http://121.36.84.172/dailybuild/EBS-openEuler-22.03-LTS-SP2/openeuler-2023-06-29-20-25-36/EPOL/multi_version/ROS/humble/source
enabled=1
gpgcheck=0

    Tips: 正式版发布后可以跳过上述修改步骤

  4. 现在就可以安装需要的 ros 包啦！

    使用 dnf install ros-humble-xxx 就可安装指定的 ros 软件包

    # 以小乌龟（ros-humble-turtlesim）为例
dnf install ros-humble-turtlesim

    image-20230630191602955
    image-20230630191602955

如果不介意安装全家桶的话，可以使用 dnf install ros-humble-* 来安装目前源里的所有 ros humble 软件包。

  1. 跑个 demo 康康？

    #安装 `ros-humble-demo-nodes-cpp` 包
dnf install ros-humble-demo-nodes-cpp
# 配置环境
source /opt/ros/humble/setup.sh
# 分别执行以下两条命令

    image-20230630192153082
    image-20230630192153082