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管理系统依赖项

Description: 本教程将展示如何使用rosdep安装系统依赖项.

Tutorial Level: INTERMEDIATE

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Contents

System Dependencies
1. rosdep

Show EOL distros:

System Dependencies

ROS packages有时会需要操作系统提供一些外部函数库，这些函数库就是所谓的“系统依赖项”。在一些情况下，这些依赖项并没有被系统默认安装，因此，ROS提供了一个工具rosdep来下载并安装所需系统依赖项。

ROS packages必须在配置文件中声明他们需要哪些系统依赖项。下面我们来看看turtlesim package的配置文件：

$ roscd turtlesim

然后,

$ cat package.xml

<package>

...
...
  <build_depend>message_generation</build_depend>
  <build_depend>libqt4-dev</build_depend>
  <build_depend>qt4-qmake</build_depend>
  <build_depend>rosconsole</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>roscpp_serialization</build_depend>
  <build_depend>roslib</build_depend>
  <build_depend>rostime</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>std_srvs</build_depend>
</package>

正如你所看到的，turtlesim 依赖这些函数库和packages.

$ cat manifest.xml

<package>

...
...
    <rosdep name="libqt4-dev"/>
    <rosdep name="qt4-qmake"/>
</package>

正如你所见，turtlesim 依赖于 libqt4-dev 和 qt4-qmake.

$ cat manifest.xml

<package>

...
...
    <rosdep name="libqt4-dev"/>
    <rosdep name="qt4-qmake"/>

</package>

正如你所见，turtlesim 依赖于 libqt4-dev 和 qt4-qmake.

rosdep

rosdep 是一个能够下载并安装ROS packages所需要的系统依赖项的小工具使用方法:

rosdep install [package]

为turtlesim下载并安装系统依赖项:

$ rosdep install turtlesim

如果是按照教程的顺序学习，那么这很可能是你第一次使用rosdep工具，因此，当执行这条指令，你会看到如下的报错消息：

ERROR: your rosdep installation has not been initialized yet.  Please run:
        
    sudo rosdep init
    rosdep update

按照提示执行上边两条指令，并再次安装turtlesim的系统依赖项。

如果你安装的是二进制文件，那么会看到如下信息：

All required rosdeps installed successfully

不然，你将看到如下的turtlesim依赖项安装信息：

set -o errexit
set -o verbose


if [ ! -f /opt/ros/lib/libboost_date_time-gcc42-mt*-1_37.a ] ; then
  mkdir -p ~/ros/ros-deps
  cd ~/ros/ros-deps
  wget --tries=10 http://pr.willowgarage.com/downloads/boost_1_37_0.tar.gz
  tar xzf boost_1_37_0.tar.gz
  cd boost_1_37_0
  ./configure --prefix=/opt/ros
  make
  sudo make install
fi


if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
  mkdir -p ~/ros/ros-deps
  cd ~/ros/ros-deps
  wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
  tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
  cd apache-log4cxx-0.10.0
  ./configure --prefix=/opt/ros
  make
  sudo make install
fi

rosdep 运行上述bash脚本，并在完成后退出。

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