install ros in Ubuntu 22.04

cyberbotics · Mar 13, 2024 · 8803b4a · 8803b4a
1 parent f578a01
commit 8803b4a
Show file tree

Hide file tree

Showing 4 changed files with 19 additions and 5 deletions.
diff --git a/.github/workflows/test_suite_linux.yml b/.github/workflows/test_suite_linux.yml
@@ -68,6 +68,7 @@ jobs:
  export PATH=$JAVA_HOME/bin:$PATH
  export LIBGL_ALWAYS_SOFTWARE=true
  export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+ source /opt/ros/$ROS_DISTRO/setup.bash || true
  xvfb-run --auto-servernum make distrib -j4
  - name: Create/Update GitHub release
  if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}

diff --git a/.github/workflows/test_suite_linux_develop.yml b/.github/workflows/test_suite_linux_develop.yml
@@ -1,10 +1,8 @@
 name: Linux build (develop)
 
 on:
- push:
  schedule:
  - cron: '0 23 * * *'
- workflow_dispatch:
 
 concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}

diff --git a/projects/default/controllers/ros/Makefile b/projects/default/controllers/ros/Makefile
@@ -64,11 +64,20 @@ include/services/%.h: $(WEBOTS_HOME_PATH)/resources/webots_ros/srv/%.srv include
  @echo "# generating service header" $(notdir $<)
  $(SILENT)$(PYTHON_COMMAND) headersFromSRV.py $<
 
-INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include
+ifeq ($(ROS_PATH),noetic)
+ INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include -isystem /opt/ros/$(ROS_DISTRO)/include
+else
+ INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include
+endif
 
 # include ros libraries
 
-LIBRARIES += -W -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lboost_system
+ifeq ($(ROS_PATH),noetic)
+ LIBRARIES += -L/opt/ros/$(ROS_DISTRO)/lib -Wl,-rpath-link=/opt/ros/$(ROS_DISTRO)/lib -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lcontroller_manager -lboost_system
+else
+ LIBRARIES += -W -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lboost_system
+endif
+
 ifeq ($(OSTYPE),windows)
  LIBRARIES += -lws2_32
  ifeq ($(MAKECMDGOALS),debug)

diff --git a/scripts/install/linux_test_dependencies.sh b/scripts/install/linux_test_dependencies.sh
@@ -22,8 +22,14 @@ if [[ $@ != *"--exclude-ros"* ]]; then
  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
  apt update -qq
  apt install -y ros-$ROS_DISTRO-ros-base ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-ros-controllers ros-$ROS_DISTRO-controller-manager ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-class-loader ros-$ROS_DISTRO-roslib liburdfdom-tools
+ apt install -y ros-$ROS_DISTRO-*msgs
  apt install -y python3-rosdep
- elif [[ $UBUNTU_VERSION != "22.04" ]]; then
+ elif [[ $UBUNTU_VERSION == "22.04" ]]; then
+ echo "Adding ROS dependencies"
+ apt update -qq
+ apt install -y ros-*
+ apt install -y *-msgs-dev
+ else
  echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported."
  fi
 fi