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Build Instructions

Quickstart

Steps

First, install all ROS2 dependencies from the ROS2 Installation page: https://github.com/ros2/ros2/wiki/Linux-Development-Setup

Second, install the dependencies for this repository:

RUN apt-get install -y \
    libsdl-image1.2 \
    libsdl-image1.2-dev \
    libsdl1.2debian \
    libsdl1.2-dev

Third, ensure there are no ROS environment variables set in your terminal or .bashrc file before taking the steps below.*

mkdir <directory_for_workspaces>
cd <directory_for_workspaces>
wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/initial_ros_setup.sh
chmod a+x initial_ros_setup.sh
./initial_ros_setup.sh

Summary of what's being done

The initial_ros_setup.sh script downloads four ROS workspaces and then builds them in the correct order. The four workspaces are:

  • ROS 1 Dependencies - This is a set of ROS 1 repos that are used by the system test. At the time of this writing, it consists solely of Turtlebot 3 packages.

  • ROS 2 release - This is the ROS 2 latest release as defined by the repos file found on [https://github.com/ros2/ros2/]

  • ROS 2 Dependencies - This is a set of ROS 2 packages that aren't included in the ROS 2 release yet, but which the navstack depends on. This also includes packages which are part of the ROS 2 release where we need a different version.

  • Navigation 2 - This repo.

After all the workspaces are downloaded, the navigation2/tools/build_all.sh script is run which builds each repo in the order listed above using the colcon build --symlink-install command (except ROS 1 dependencies which are built using catkin_make)

Options

The initial_ros_setup.sh accepts the following options:

  • --no-ros1 This skips downloading and building the ROS 1 dependencies and skips building the ROS 1 bridge
  • --no-ros2 This skips downloading and building the ROS 2 release. Instead it uses the binary packages and setup.sh installed in /opt/ros/bouncy
  • --download-only This skips the build steps

Use Case Recommendations

Developer

For developers, running the initial_ros_setup.sh once makes sense. After that, you'll typically want to maintain each repo manually using git.

Most work will be done in the navigation2 workspace, so just building that will save time.

To build just navigation2,

cd <directory_for_workspaces>/navigation2_ws
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install

In the case that the developer changes any dependencies, they can run <directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh in a clean environment to get everything rebuilt easily

Build System

An automated build system could make a clean directory and run the initial_ros_setup.sh script each time, however that will generate a lot of unneccessary load on the upstream repo servers, and result in very long builds.

Instead, it would be better to do an initial download of all the source and dependencies

./initial_ros_setup.sh --no-ros1 --download-only

Then the CI tool can monitor the navigation2 repo, update it as necessary, and rebuild using either the <directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh script or by running

cd <directory_for_workspaces>/navigation2_ws/src/navigation2
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install