61 lines
1.6 KiB
Bash
61 lines
1.6 KiB
Bash
#!/bin/bash
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# ROS Humble 依赖安装脚本
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set -e # 遇到错误立即退出
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echo "========================================"
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echo " 开始安装 ROS Humble 依赖包"
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echo "========================================"
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# ==================== 系统基础工具 ====================
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echo "[1/3] 安装系统基础工具和库..."
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sudo apt-get update
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sudo apt-get install -y \
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v4l-utils \
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python3-pip \
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libpcap-dev \
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nlohmann-json3-dev \
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libceres-dev \
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libompl-dev \
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libnanoflann-dev \
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libbenchmark-dev \
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libgraphicsmagick++-dev \
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libserialport-dev \
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libserial-dev
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# ==================== ROS Humble 核心包 ====================
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echo "[2/3] 安装 ROS Humble 核心功能包..."
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sudo apt-get install -y \
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ros-humble-pcl-ros \
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ros-humble-pcl-conversions \
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ros-humble-apriltag-ros \
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ros-humble-can-msgs \
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ros-humble-geographic-msgs \
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ros-humble-autoware-msgs \
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ros-humble-bond \
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ros-humble-bondcpp \
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ros-humble-test-msgs \
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ros-humble-behaviortree-cpp \
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ros-humble-diagnostic-updater \
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ros-humble-robot-localization \
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ros-humble-nmea-msgs \
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ros-humble-rviz-2d-overlay-msgs
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# ==================== Python 依赖 (PyPI) ====================
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echo "[3/3] 安装 Python PyPI 依赖..."
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# 使用清华镜像加速
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pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \
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'pydantic<2.0' \
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loguru \
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paho-mqtt \
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jsonschema
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echo ""
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echo "========================================"
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echo " 所有依赖安装完成！"
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echo "========================================"
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echo ""
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echo "建议执行以下命令验证安装:"
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echo " ros2 pkg list | grep humble" |