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jwpleow/rosinstall.sh

Last active July 10, 2022 17:44
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Try installing ROS noetic from source, using vcpkg's opencv, pcl, boost, etc
Raw
rosinstall.sh
sudo pip3 install --upgrade setuptools
sudo pip3 install -U rosdep rosinstall_generator vcstool
# BEFORE INSTALLING VCPKG PCL
# https://github.com/microsoft/vcpkg/pull/18855#issuecomment-961480058
# maybe
# sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstool build-essential
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
rosinstall_generator ros_core tf2_ros tf2_geometry_msgs pcl_ros cv_bridge eigen_conversions tf_conversions image_transport camera_info_manager message_filters grid_map_core grid_map_ros --rosdistro noetic --deps --tar > noetic-custom_ros.rosinstall
mkdir src
vcs import --input noetic-custom_ros.rosinstall ./src
# DONT Install system dependencies (as you pull boost, opencv etc)
# rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y
# Install dependencies
vcpkg install console-bridge bzip2
sudo apt install libpoco-dev libtinyxml2-dev liblog4cxx-dev liblz4-dev libgpgme-dev libgmock-dev liborocos-kdl-dev libyaml-cpp-dev
## setting the toolchain to vcpkg seems to break catkin finding dependencies
export CMAKE_PREFIX_PATH=/home/joel/vcpkg/installed/x64-linux/share:$CMAKE_PREFIX_PATH
export LD_LIBRARY_PATH=/home/joel/vcpkg/installed/x64-linux/lib:$LD_LIBRARY_PATH
export BOOST_ROOT=/home/joel/vcpkg/installed/x64-linux/
export BOOST_INCLUDEDIR=/home/joel/vcpkg/installed/x64-linux/include
export BOOST_LIBRARYDIR=/home/joel/vcpkg/installed/x64-linux/lib
# not sure if you need this (nope you dont)
export TinyXML2_LIBRARY=/usr/lib/x86_64-linux-gnu/libtinyxml.a
export TinyXML2_INCLUDE_DIR=/usr/include/
# go to src/ros_comm, in rosbag_storage/ and rosbag/'s CMakeLists.txt , before bzip
set(BZIP2_LIBRARIES /home/joel/vcpkg/installed/x64-linux/lib/libbz2.a)
set(BZIP2_INCLUDE_DIR /home/joel/vcpkg/installed/x64-linux/include)
# go to src/vision_opencv/cv_bridge/CMakeLists.txt
# remove the 37 in find_package(Boost REQUIRED python37) and set your own vcpkg's lib version (eg mine is python310)
# Same in src/image_common/camera_calibration_parsers
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF
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