Ros2 topic [01]: installing ros2 on win10

One 、 summary ：

         If we finally set up the computer , Established a network connection , We can start installing ROS 了 ！ This is actually not difficult , Although the official documents are very detailed , But where should beginners start ？ In especial , Should I use it ROS2？ This article is mainly to point out the direction and correct installation method for you .

        ROS2 Sooner or later, it will replace ROS1, therefore , Contact ahead of time ROS2 Is knowing the choice . Generally speaking ,windows Than Ubuntu To facilitate development , therefore , It's recommended here ROS2+Win10 System configuration .

Two 、 Necessary tools and preparations

2.1 System requirements

• ROS-for-Windows need 64 position Windows 10 Desktop or Windows 10 Internet of things Enterprise Edition .
• Please make sure that... Is installed in the system path Powershell.
• Exclude from real-time virus scanners c:\opt（ And the workspace folder later ）, Because they may interfere with installation and development .

2.1 powershell Introduce

powershell It's an interactive terminal , Its commands and linux It's about the same ,ls,ssh,ping,scp And so on are supported . have access to win+R, Input powershell open , You can also search through the bottom left powershell open .

3、 ... and 、 install Visual Studio 2019

（ install VC2019 Many posts , Look online ）

• Vcpkg is used for managing dependent libraries. It requires that the English language pack be installed.
• Include "Desktop development with C++" workload.
• In the Individual Components, select "Windows 10 SDK (10.0.19041.0)".

Be careful ： installed VC2019 after , There is one VC Version of the command line tool is important , Pictured ：

  Where 64 Bit software operation , You need to open this command line to .

Four 、 “ chocolate ”-Chocolatey install

4.1  Chocolatey What is it ？

stay Ubuntu Download the update tool apt-get,Chocolatey It means win10 Version of apt-get became .

4.2 To install a chocolatey

• In the start menu , find “VS 2019 Of x64 Native tool command prompt ” term .
• Right click , choice “ more ”, And then choose “ Run as administrator ”

•   Copy the following command line ：

Open... With administrator privileges powershell, Remember to have administrator privileges

Copy and paste Dafa to powershell, Install well choco

@"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

•   Paste it into the command window .

•   Approve any hint
• After completion , Close the command prompt to complete

After the installation is completed, please wait powershell Input in choco It will be like this

 

5、 ... and 、 install ROS2

 5.1 Administrator access powershell install

Then copy the following four lines to the terminal ：

mkdir c:\opt\chocolatey
set PYTHONNOUSERSITE=1
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1

Wait half an hour ...... installation is complete .

5.2 to update ROS2 To the new version

choco upgrade ros-foxy-desktop -y --execution-timeout=0

It will be automatically downloaded and installed in the middle ros2, It's also very convenient

When it's done , Now start running little turtle ~

6、 ... and 、 Run little turtle

It needs to be opened at this time cmd 了 ,Win+R,cmd, Enter the following two lines of instructions

call C:\opt\ros\foxy\x64\local_setup.bat
ros2 run turtlesim turtlesim_node

You should see the print below , At the same time, a turtle simulator jumps out 【 Longer time , about 10 second 】

C:\Program Files (x86)\Microsoft Visual Studio\2019\Community>ros2 run turtlesim turtlesim_node &
[INFO] [1631619840.995104400] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [1631619840.999301900] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

Then we do the same , Start keyboard control node

Start another window ~

call C:\opt\ros\foxy\x64\local_setup.bat
ros2 run turtlesim turtle_teleop_key

Reference article ：

​​​​​​ How to be in Windows10 Installation on ROS2| Little turtle runs | Compile nodes - You know (zhihu.com)

Technology sharing | Detailed explanation ROS 2 Installation steps of - You know (zhihu.com)