For People In A Hurry: Build RMF (Robot Middleware Framework) from source with ROS 2 Humble

TLDR:These are a quick list of instructions to quickly build rmf from source on your local workstation.

Environment 📚

1. Ubuntu 22.04.4 LTS
2. ROS 2 Humble

cd $HOME

mkdir -p rmf_ws/src && cd rmf_ws

wget https://raw.githubusercontent.com/open-rmf/rmf/humble/rmf.repos

vcs import src < rmf.repos

sudo apt-get update

rosdep update

source /opt/ros/humble/setup.bash

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

sudo apt install clang clang-tools lldb lld libstdc++-12-dev

export CXX=clang++ && export CC=clang

colcon build --mixin release lld

FAQ

⭕ If you are encountering a similar error to below:

--- stderr: rmf_robot_sim_gz_classic_plugins                                 
/home/user/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gz_classic_plugins/src/slotcar.cpp:86:22: error: no type named 'sanitize_node_name' in namespace 'rmf_plugins_utils'
  rmf_plugins_utils::sanitize_node_name(node_name);

✅ Solution: Remove specific package, rmf_robot_sim_gz_classic_plugins, out for now:

rm -r $HOME/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gz_classic_plugins

References

• Root repository for the RMF software