(window) humble #2

깃 설치

 

 

 

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Visual studio 설치

https://visualstudio.microsoft.com/ko/vs/older-downloads/

 

 

 

 

 

 

 

 

 

 

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x64 Native Tools Command Prompt for VS 2019

 

@"%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"

 

 

choco upgrade git -y

git --version

 

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ros-humble-desktop설치

mkdir c:\opt\chocolatey

set ChocolateyInstall=c:\opt\chocolatey

choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1

choco upgrade ros-humble-desktop -y --execution-timeout=0 --pre

 

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ROS 환경설정

c : \opt\ros\humble\x64\setup.bat

c:\opt\ros\humble\x64\share\gazebo\setup.bat
set "SDF_PATH=c:\opt\ros\humble\x64\share\sdformat\1.6"

c:\opt\ros\humble\x64\share\gazebo\setup.bat 명령어 실행 시 "지정된 경로를 찾을 수 없습니다"

 

 

 

 

 

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???

mkdir c:\ros2_workspace\src
cd c:\ros2_workspace\src

git clone https://github.com/ros-perception/vision_msgs -b ros2
git clone https://github.com/ros-perception/pointcloud_to_laserscan.git -b humble

 

notepad pointcloud_to_laserscan\src\pointcloud_to_laserscan_node.cpp

#ifndef M_PI
    #define M_PI 3.14159265358979323846
#endif

 

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cd c:\ros2_workspace
colcon build --packages-skip vision_msgs_rviz_plugins

[1.137s] colcon.colcon_ros.prefix_path.catkin WARNING The path 'c:\opt\ros\humble\x64\tools\vcpkg\installed\x64-windows' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> vision_msgs
Failed   <<< pointcloud_to_laserscan [7.27s, exited with code 1]
Aborted  <<< vision_msgs [7.97s]

Summary: 0 packages finished [8.47s]
  1 package failed: pointcloud_to_laserscan
  1 package aborted: vision_msgs

 

 

 

 

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???

c:\opt\ros\humble\x64\setup.bat
C:\humble_ws\install\setup.bat

set HOME=
set ROS_DOMAIN_ID=12
set FASTRTPS_DEFAULT_PROFILES_FILE=<path_to_fastdds_xml>