upgrade_to_ros2

版本对应关系 §

Ubuntu	ROS	Gazebo
16.04	ROS Kinetic	Gazebo 7.x
18.04	ROS Melodic	Gazebo 9.x
20.04	ROS Noetic	Gazebo 11.x
18.04	ROS2 Dashing	Gazebo 9.x
18.04	ROS2 Eloquent	Gazebo 9.x
20.04	ROS2 Foxy	Gazebo 11.x

. ~/ros2_foxy/install/local_setup.bash source /opt/ros/foxy/setup.bash

ROS与ROS2之间的切换 §

• 使用ROS，修改.bashrc：

  source /opt/ros/noetic/setup.bash
  source ~/catkin_ws/devel/setup.bash
  

• 使用ROS2，修改.bashrc：

  source /opt/ros/foxy/setup.bash
  source ~/dev_ws/install/setup.bash
  

Setup §

• 安装ROS2
  • Installation
    • apt install
    • build from source
• 安装Gazebo
  • Installing gazebo_ros_pkgs
• 创建工作环境
  • Creating a workspace
    • source 配置文件
    • 创建工作环境文件夹
    • 包编译使用colcon
      • 指定要编译的包：--packages-select <package name>

从ROS升级至ROS2，包的配置 §

• 官方
• AWS提供的工具？
• 官方Checklist:
  • ？ package.xml如果用的是format1要升级为format 2
  • 删除<metapackage /> tag
  • ？msg，srv和action
  • 用colcon替代catkin
    • 编译时用colcon命令
    • ？Python包的处理
    • 在CmakeLists.txt中
      • 修改package.xml中的export section

        <export>
          <build_type>ament_cmake</build_type>
        </export>
        

      • 修改find_package
        • find_package(catkin REQUIRED) -> find_package(ament_cmake REQUIRED)
        • ？component可能也要根据情况进行修改？（如果有对应的ROS2升级本本的话）

• Move and update the catkin_package invocation with:
  • Invoke ament_package instead but after all targets have been registered.
  • The only valid argument for ament_package is CONFIG_EXTRAS. All other arguments are covered by separate functions which all need to be invoked before ament_package:
    • Instead of passing CATKIN_DEPENDS … call ament_export_dependencies(…) before.
    • Instead of passing INCLUDE_DIRS … call ament_export_include_directories(…) before.
    • Instead of passing LIBRARIES … call ament_export_libraries(…) before.
  • TODO document ament_export_targets (ament_export_interfaces in Eloquent and older)?
• Replace the invocation of add_message_files, add_service_files and generate_messages with rosidl_generate_interfaces.
  • The first argument is the target_name. If you’re building just one library it’s ${PROJECT_NAME}
  • Followed by the list of message filenames, relative to the package root.
    • If you will be using the list of filenames multiple times, it is recommended to compose a list of message files and pass the list to the function for clarity.
  • The final multi-value-keyword argument fpr generate_messages is DEPENDENCIES which requires the list of dependent message packages.

rosidl_generate_interfaces(${PROJECT_NAME}
 ${msg_files}
 DEPENDENCIES std_msgs
)

• Remove any occurrences of the devel space. Related CMake variables like CATKIN_DEVEL_PREFIX do not exist anymore.
  • The CATKIN_DEPENDS and DEPENDS arguments are passed to the new function ament_export_dependencies.
  • CATKIN_GLOBAL_BIN_DESTINATION: bin
  • CATKIN_GLOBAL_INCLUDE_DESTINATION: include
  • CATKIN_GLOBAL_LIB_DESTINATION: lib
  • CATKIN_GLOBAL_LIBEXEC_DESTINATION: lib
  • CATKIN_GLOBAL_SHARE_DESTINATION: share
  • CATKIN_PACKAGE_BIN_DESTINATION: lib/${PROJECT_NAME}
  • CATKIN_PACKAGE_INCLUDE_DESTINATION: include/${PROJECT_NAME}
  • CATKIN_PACKAGE_LIB_DESTINATION: lib
  • CATKIN_PACKAGE_SHARE_DESTINATION: share/${PROJECT_NAME}