# ROS compile with python3 ###### tags: `ROS` `troubleshooting` :::info 這篇原本是要自己compile可以跑python3的ros 但過程艱辛 後來發現只要第一次 catkin_make 時: $ catkin_make -DPYTHON_EXECUTABLE=python3 即可 ::: ## 完整版 ### 1. 首先安裝基本依賴包： 安裝ros依賴： ``` sudo apt install python3-rosdep2 python3-rosinstall-generator python3-rosinstall build-essential python3-defusedxml python3-netifaces ``` 安裝編譯依賴： ``` sudo apt install libeigen3-dev libboost-thread-dev libgtest-dev libconsole-bridge-dev libpoco-dev python3-sip-dev libboost-filesystem-dev libboost-program-options-dev libtinyxml2-dev libtinyxml-dev pyqt5-dev libcurl4-openssl-dev libboost-regex-dev liblz4-dev libbz2-dev libboost-signals-dev liburdfdom-headers-dev liburdfdom-dev uuid-dev libassimp-dev libogre-1.9-dev libyaml-cpp-dev ``` ### 2. 配置rosdep ``` mkdir setups cd setups touch rosdep chmod +x ./rosdep vim ./rosdep ``` 裡面貼上: ``` #!/usr/bin/env python3 from rosdep2.main import rosdep_main rosdep_main() ``` 執行: ``` sudo ./rosdep init ./rosdep update ``` 如果出現錯誤，就用`rm`將那個檔案刪掉，再執行一次 ### 3. 獲取基本ros環境的源碼 首先下載執行文件 ``` wget https://raw.githubusercontent.com/ros-infrastructure/rosinstall_generator/master/bin/rosinstall_generator wget https://raw.githubusercontent.com/vcstools/wstool/master/scripts/wstool wget https://raw.githubusercontent.com/ros-infrastructure/rospkg/master/scripts/rosversion wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_find_pkg wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_create_pkg wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_generate_changelog wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_tag_changelog wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_test_changelog chmod +x ./rosinstall_generator chmod +x ./wstool chmod +x ./rosversion chmod +x ./catkin_find_pkg chmod +x ./catkin_create_pkg chmod +x ./catkin_generate_changelog chmod +x ./catkin_tag_changelog chmod +x ./catkin_test_changelog ``` 用vim把剛剛所有成功下載的檔案打開，然後第一行改成python3 也就是 `#! /usr/bin/env python3` 再來有兩個檔案沒有下載到: 1. rosinstall_generator ``` sudo apt-get update sudo apt-get install python-rosinstall-generator ``` 2. rosversion ``` sudo apt-get install python3-rospkg ``` 新建總工程目錄並執行ros源代碼下載 ``` mkdir ../workspace cd ../workspace rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall ../setups/wstool init -j8 src melodic-desktop-full.rosinstall ``` --- #### 錯誤 ` ERROR Cannot find rosinstall libraries, check your installation. One frequent cause is that rosinstall 0.5 is still installed in /usr/local/lib. No module named rosws_cli ` #### 解決 先更新 ``` sudo apt-get update python-rosinstall python-vcstools ``` 失敗了再把之前的remove 可以檢查有沒有，如果沒有的話，直接裝新的 ``` sudo rm -rf /usr/local/lib/python2.7/dist-packages/rosinstall* sudo rm -rf /usr/local/lib/python2.7/dist-packages/vcstools* sudo rm -rf /usr/local/bin/rosws /usr/local/bin/roslocate /usr/local/bin/rosinstall /usr/local/bin/rosco ``` 直接裝新的 ``` sudo apt-get install python-rosinstall python-vcstools ``` 如果安裝失敗的話，可以試試繼續安裝： ``` ../setups/wstool update -j 8 -t src ``` --- 接下來解決依賴 ``` ../setups/rosdep install --from-paths src --ignore-src --rosdistro melodic -y ``` ### 4. 安裝Catkin 指令為 ``` sudo apt-get install git git clone https://github.com/ros/catkin sudo apt-get install cmake python-catkin-pkg python-empy python-nose python-setuptools libgtest-dev build-essential cd catkin/ && mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Release ../ && make && sudo make install ``` ``` export ROS_PYTHON_VERSION=3 cd ~/workspace/catkin/build cmake .. make sudo make install ``` 然後回到workspace目錄 - 修改 `./src/orocos_kinematics_dynamics/python_orocos_kdl/CMakeLists.txt`中 `SET(PYTHON_VERSION 2 CACHE STRING "Python Version")` 改為 `SET(PYTHON_VERSION 3 CACHE STRING "Python Version")` - 修改 `src/dynamic_reconfigure/cfg/Test.cfg` 和 `src/nodelet_core/nodelet_topic_tools/cfg/NodeletThrottle.cfg` 第一行爲 ` #! /usr/bin/env python3 ` - 添加 regex 依賴到 `src/rosconsole/CMakeLists.txt` 72 行後（維持其他不變，添加boost_regex） ``` target_link_libraries(rosconsole ${rosconsole_backend_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} boost_regex) ``` - 修改 `src/vision_opencv/cv_bridge/CMakeLists.txt` 11 行爲 ` find_package(Boost REQUIRED python-py36) ` - `~/.bashrc` 最後一行添加 ` export ROS_PYTHON_VERSION=3 ` ### 5. 開始編譯 ``` source ~/.bashrc catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release ``` ### 6. 開始使用ROS 執行可以同時加入 `~/.bashrc` ``` source ~/workspace/install_isolated/setup.bash ``` 再來就 ``` roscore rosrun ```