ros_noetic_on_jammy

Scripts for installing ROS Noetic on Ubuntu 22.04. Tested with default gcc-11.

Usage

Add ROS2 source (ROS1 dropped support for Ubuntu 22.04)

sudo apt-get update && sudo apt-get install -y curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt-get/sources.list.d/ros2.list > /dev/null
sudo apt-get update

Install basic dependencies

sudo apt-get install -y python3-pip python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential python3-numpy
sudo pip3 install -U rosdep rosinstall_generator vcstool
sudo pip3 install --upgrade setuptools
sudo apt-get install -y build-essential
sudo apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

Clone this repo and run installation script

Please edit packages.txt first if you want to customize ROS packages. (And update this repo if necessary) You may also run ./install.sh <your_packages.txt> to import from a custom package list.

git clone https://github.com/tinkerfuroc/ros_noetic_on_jammy
cd ros_noetic_on_jammy
./install.sh

You should watch carefully for any errors in this stage due to network reason. If any error occurs, simply run install.sh again.

You may continue to the next step to install build dependencies in another terminal parallel to this (and hopefully save some time).

Install build dependencies

sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libccd-dev libfltk1.3-dev libqhull-dev libbullet-dev libsdl1.2-dev libsdl-image1.2-dev libpcl-dev gazebo libgazebo-dev
sudo apt-get install -y libboost-all-dev uuid-dev python3-nose google-mock libgtest-dev libbz2-dev libgpgme-dev libssl-dev python3-coverage libboost-program-options-dev python3-psutil python3-opengl python3-pygraphviz python3-pydot qt5-qmake sbcl libapr1-dev libaprutil1-dev libboost-regex-dev liblog4cxx-dev python3-matplotlib libpyside2-dev libshiboken2-dev pyqt5-dev python3-pyqt5 python3-pyqt5.qtsvg python3-pyside2.qtsvg python3-sip-dev shiboken2 lm-sensors graphviz python3-paramiko python3-pycryptodome python3-gnupg python3-defusedxml python3-pyqt5.qtopengl libcurl4-openssl-dev libpoco-dev libogre-1.9-dev libassimp-dev libogre-1.9.0v5 libyaml-cpp-dev libgl1-mesa-dev libglu1-mesa-dev libqt5opengl5 libqt5opengl5-dev libopencv-dev python3-opencv python3-pykdl tango-icon-theme liborocos-kdl-dev libtinyxml-dev libtinyxml2-dev liburdfdom-headers-dev python3-numpy python3-empy libboost-filesystem-dev libboost-thread-dev python3-pygraphviz python3-pygraphviz python3-mock libboost-date-time-dev libboost-system-dev liburdfdom-dev libboost-chrono-dev libboost-dev libqt5core5a libqt5gui5 libqt5widgets5 qtbase5-dev  libconsole-bridge-dev liblz4-dev python3-pyqt5.qtwebkit exfatprogs

Compile

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

and wait a while for all packages to compile. If you add some packages later and want to build incrementally, use:

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --only-pkg-with-deps <package 1> <package 2> ...

Some packages may consume >16G RAM to build in parallel. If you run into Killed signal terminated program cc1plus errors, try increasing SWAP partition size.

Add environment script with terminal startup

bash:

echo "source ~/ros_noetic_on_jammy/install_isolated/setup.bash" >> ~/.bashrc

zsh:

echo "source ~/ros_noetic_on_jammy/install_isolated/setup.zsh" >> ~/.zshrc