NVIDIA Omniverse Isaac Sim (1) - 开发环境

Windows开发环境(只支持Win10)

参考文档: Windows (binary) — ROS 2 Documentation: Humble documentation

安装Chocolatey和其它Package

Installing Chocolatey

:: 安装Python 3.8.3，注意需要安装到这个目录： C:\Python38 
choco install -y python --version 3.8.3


:: 安装Visual C++ Redistributables
choco install -y vcredist2013 vcredist140

:: 安装 OpenSSL 1.1.1.2100
choco install -y openssl --version 1.1.1.2100

setx /m OPENSSL_CONF "C:\Program Files\OpenSSL-Win64\bin\openssl.cfg"

把 "C:\Program Files\OpenSSL-Win64\bin\" 目录添加到"Environment Variables"

安装Visual Studio 2019

安装的时候确保选上 Desktop development with C++ ，确保不要选择C++ CMake tools

安装 OpenCV 3.4.6

下载: 

https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip

解压到 c:\opencv

setx /m OpenCV_DIR C:\opencv

Extend the PATH variable to C:\opencv\x64\vc16\bin.

安装其它依赖

先安装CMake

choco install -y cmake

安装其它Package

从这里 https://github.com/ros2/choco-packages/releases/latest 下载以下package

asio.1.12.1.nupkg
bullet.3.17.nupkg
cunit.2.1.3.nupkg
eigen-3.3.4.nupkg
tinyxml-usestl.2.6.2.nupkg
tinyxml2.6.0.0.nupkg

打开Admin Shell，运行
choco install -y -s <PATH\TO\DOWNLOADS\> asio cunit eigen tinyxml-usestl tinyxml2 bullet

升级 pip and setuptools

python -m pip install -U pip setuptools==59.6.0

安装Python包

python -m pip install -U catkin_pkg cryptography empy importlib-metadata lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro

安装Qt5

Download the 5.12.X offline installer. Run the installer. Make sure to select the MSVC 2017 64-bit component under the Qt -> Qt 5.12.12 tree.

Finally, in an administrator cmd.exe window set these environment variables. The commands below assume you installed it to the default location of C:\Qt.

setx /m Qt5_DIR C:\Qt\Qt5.12.12\5.12.12\msvc2017_64
setx /m QT_QPA_PLATFORM_PLUGIN_PATH C:\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms

安装RQt依赖

To run rqt_graph you need to download and install Graphviz. The installer will ask if to add graphviz to PATH, choose to either add it to the current user or all users.

安装ROS 2

Repo: https://github.com/ros2/ros2/releases
下载链接:

release版本   debug版本

Unpack the zip file somewhere (we’ll assume C:\dev\ros2_humble)

To install debug libraries for ROS 2, see Extra Stuff for Debug. Then continue on with downloading ros2-package-windows-debug-AMD64.zip.

环境配置

Start a command shell and source the ROS 2 setup file to set up the workspace:

call C:\dev\ros2_humble\local_setup.bat

It is normal that the previous command, if nothing else went wrong, outputs “The system cannot find the path specified.” exactly once.

试运行一下Examples

In a command shell, set up the ROS 2 environment as described above and then run a C++ talker:

ros2 run demo_nodes_cpp talker

Start another command shell and run a Python listener:

ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages.

This verifies both the C++ and Python APIs are working properly

Linux(Ubuntu)

ROS2 Humble: Ubuntu (Debian packages) — ROS 2 Documentation: Humble documentation