Meltwin/Noetic-Ubuntu22.04.md

## Noetic-Ubuntu22.04.md

      
    Raw
  

              Noetic-Ubuntu22.04.md
            
          
    The process is pretty similar to the standard installation from source except
for some fixes that you will have to make during the installation.
I will keep the same header so you can keep a track on both guide at the same time (follow the official website
for more explication, I will only write the steps to make).
1 - Prerequisites

1.1 - Installing bootstrap dependencies

To install bootstrap dependencies
sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential
1.X - Changing rosdep repository adress

The first problem that you will encounter while following the official guide is the lacking of some packages on the apt.
In order to resolve this problem, do these steps:

Init rosdep: sudo rosdep init
Modify /etc/ros/rosdep/sources.list.d/20-default.list as following:

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml <enter base.yaml address>
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

Go to this gist and click Raw. Replace <enter base.yaml address> in the file by the address of the raw file.
Save the file (require sudo rights).

1.Y - HDDTemp can't be found

It can happens that the package hddtemp can't be found with an error message similar to this:
diagnostic_common_diagnostics: [hddtemp] defined as "not available" for OS version [*]

For Ubuntu 22.04, it is possible to install it thanks to an online archive. The solution I found was on this StackOverflow post. What you have to do is:
sudo add-apt-repository ppa:malcscott/ppa
sudo apt update 
sudo apt install hddtemp


1.2 - Initializing rosdep

rosdep update
2 - Installation

2.1 - Create a catkin Workspace

Place yourself in the working folder of your choice. Create a ROS Workspace:
mkdir ./noetic_ws
cd ./noetic_ws
Downloading ROS1 source code.
rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
mkdir ./src
vcs import --input noetic-desktop.rosinstall ./src
2.1.1 - Resolving Dependencies

Install all the dependencies with rosdep:
rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y
If you are on another distro than classical Ubuntu/Kubuntu/Xubuntu (e.g. Manjaro, Mint, ...),
add --os=ubuntu:jammy at the end of the precendent command:
2.1.2 - Building the catkin Workspace

2.1.2.A Building from the source

Let's build the sources. Run the following commands.
./src/catkin/bin/catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
It's likely that you will have some errors while building the sources. In the next subsections,
you will have the needed steps to resolve the issue.
Don't worry about the warning and notes (especially about deprecated BOOST_PRAGMA_MESSAGE ), only focus on the errors.
2.1.2.B - Fixing rosconsole error

The second error that you will likely encounter is linked to rosconsole and log4cxx. It means that you are likely to have log4cxx 11 or 12.
To fix that you need to follow the changes suggested on this PR
and especially this commit.
Here is a quick summary of what to do:

Open src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp and replace its content by this version of the file
Same thing with src/rosconsole/test/thread_test.cpp with this version
Same thing with src/rosconsole/test/utest.cpp with this version

2.1.2.C - Fixing std::share_mutex error

The third error that you will likely encounter is a C++ compilation version. It's a problem where the packages wants
to be compiled with C++11 and use objects from C++17.
The solution that I found was to change in every CMakeLists.txt of the packages that generate this errors the C++ version
to use.
You can use this small python script to do that for you.
Just place it at the root of your ROS workspace and run
python3 change_cpp.py
2.1.2.D - Installing noetic

Guide installation

If you want to install noetic in the working folder, run the installation with:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Opt folder installation (require sudo privileges)

If you want to install noetic in /opt/ros/noetic you can follow these steps:

Run sudo mkdir /opt/ros/noetic
Run sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic