[1] Ubuntu 22.04 ROS2 (Humble) 설치

이번에 새로 취업한 회사에서 갑작스럽게 ROS 업무를 맡았다..

그래서 ROS 설치를 해보자..

$ sudo apt install software-properties-common

$ sudo add-apt-repository universe

$ sudo apt update && sudo apt install curl -y

$ 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/sources.list.d/ros2.list > /dev/null

$ sudo apt update

$ sudo apt install ros-humble-desktop

$ sudo apt install ros-dev-tools

만약 의존성 에러 발생 시 아래 구문 실행

$ sudo apt install --fix-broken

$ sudo dpkg --config -a
> 처리하는데 오류가 발생했습니다:
	python3-rosdistro-modules 
	ros-humble-ros2doctor
	ros-humble-ros2cli-common-extensions
	ros-humble-ros-core
	ros-humble-ros-base
	ros-humble-desktop

dpkg —get-selections | grep ros 실행 후, 위 패키지가 설치되어 있는지 확인

 

openssl 설치

$ sudo apt-get install wget
$ sudo apt-get install build-essential
$ wget https://www.openssl.org/source/openssl-3.2.1.tar.gz
$ tar -xvf openssl-3.2.1.tar.gz
$ cd openssl-3.2.1
$ ./config
$ make
$ make install
$ openssl --version

# openssl 실행 시 에러
[ERROR] %% version OPENSSL_3.0.9' not found (required by openssl)
$ export PATH="/usr/local:$PATH"
$ export LD_LIBRARY_PATH="/usr/local/lib64:$PATH"
$ openssl --version

 

PCL 설치

$ wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.14.0.tar.gz
$ tar xvf- pcl-1.14.0.tar.gz
$ cd pcl
$ mkdir build
$ cd build
$ cmake ..

$ export CUDA_HOME=/usr/local/cuda
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
$ export PATH=$PATH:$CUDA_HOME/bin

$ cmake ..
$ make -j2
$ make -j2 install <- Error

CMAKE Error at cmake_install.cmake:46 (file):
  file cannot create directory: /usr/local/include/pcl-1.14/pcl.
  Maybe need administrative privileges.

해결 방안: sudo make -j2 install

-[ING]-