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配置 openEuler ROS2 Humble 环境

添加软件源

创建 /etc/yum.repos.d/openEulerROS.repo 文件并写入以下内容

[openEulerROS-humble]
name=openEulerROS-humble
baseurl={{repo_url}}
enabled=1
gpgcheck=0

各平台对应的仓库地址如下：
x86_64: https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-humble_openEuler-24.03-LTS-TEST4/openEuler%3A24.03-LTS/x86_64/

aarch64: https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-humble_openEuler-24.03-LTS-TEST4/openEuler%3A24.03-LTS/aarch64/

riscv64: https://build-repo.tarsier-infra.com/openEuler:/ROS/24.03/

安装软件包

dnf install "ros-humble-*" --skip-broken --exclude=ros-humble-generate-parameter-library-example

添加环境变量

echo "source /opt/ros/humble/setup.sh" >> ~/.bashrc
source ~/.bashrc

配置 XFCE 桌面环境

参考资料

安装 XFCE

sudo dnf update
# 安装字体库
sudo dnf install dejavu-fonts liberation-fonts gnu-*-fonts google-*-fonts
# 安装Xorg
sudo dnf install xorg-*
# 安装 Xfce 及组件
sudo dnf install xfwm4 xfdesktop xfce4-* xfce4-*-plugin network-manager-applet *fonts

配置登录管理器

sudo dnf install lightdm lightdm-gtk
# 设置默认桌面为 Xfce
echo 'user-session=xfce' >> /etc/lightdm/lightdm.conf.d/60-lightdm-gtk-greeter.conf
sudo systemctl start lightdm
sudo systemctl enable lightdm
sudo systemctl set-default graphical.target
# 如果安装了 gdm，需要执行下面这行
# systemctl disable gdm

至此，桌面环境安装完毕，重启 QEMU 并去除 -nographic 参数即可。

测试流程

测试环境

硬件信息

CPU 13th Gen Intel i9-13900H
内存 32GB

软件信息

宿主机 OS：Kubuntu 22.04.4 LTS x86_64
虚拟机 OS：openEuler-24.03-[x86/aarch64/riscv64]

turtlesim（需要桌面环境）

ros2 run turtlesim turtlesim_node # 终端1
# 出现模拟器窗口，中间有一只随机的海龟
ros2 run turtlesim turtle_teleop_key # 终端2

pkg

ros2 pkg create test-pkg
ros2 pkg exectables
ros2 pkg list
ros2 pkg prefix turtlesim
ros2 pkg xml turtlesim

topic

ros2 topic list
ros2 topic info /rosout
ros2 topic type /rosout
ros2 topic find rcl_interfaces/msg/Log

ros2 run demo_nodes_cpp talker # 终端1
ros2 topic hz /chatter # 终端2

ros2 run demo_nodes_cpp talker # 终端1
ros2 topic bw /chatter # 终端2

ros2 run demo_nodes_cpp talker # 终端1
ros2 topic echo /chatter # 终端2

ros2 run demo_nodes_cpp talker # 终端1
ros2 topic param /chatter # 终端2

ros2 run demo_nodes_cpp talker # 终端1
ros2 topic service /chatter # 终端2

node

ros2 run demo_nodes_cpp talker # 终端1
ros2 node list /chatter # 终端2

ros2 run demo_nodes_cpp talker # 终端1
ros2 node info /chatter # 终端2

bag

ros2 bag record -a
# 这里是上一步中看到的文件名
ros2 bag info rosbag2_2024_07_05-06_05_07/rosbag2_2024_07_05-06_05_07_0.db3
ros2 bag play rosbag2_2024_07_05-06_05_07/rosbag2_2024_07_05-06_05_07_0.db3

launch

ros2 launch demo_nodes_cpp talker_listener.launch.py

测试结果

✅成功
❌失败
⛔未测试

x86_64

测试功能 测试结果
turtlesim ✅成功
pkg ✅成功
topic ✅成功
node ✅成功
bag ✅成功
launch ✅成功

aarch64

测试功能 测试结果
turtlesim ⛔未测试
pkg ⛔未测试
topic ⛔未测试
node ⛔未测试
bag ⛔未测试
launch ⛔未测试

riscv64

测试功能 测试结果
turtlesim ⛔未测试
pkg ⛔未测试
topic ⛔未测试
node ⛔未测试
bag ⛔未测试
launch ⛔未测试

遇到的一些问题

安装软件包时 curl 提示 SSL 证书验证失败

openEulerROS-humble':
  - Curl error (60): SSL peer certificate or SSH remote key was not OK for https://build-repo.tarsier-infra.isrc.ac.cn/openEuler:/ROS/24.03/repodata/repomd.xml [SSL]
Error: Failed to download metadata for repo 'openEulerROS-humble': Cannot download repomd.xml: Cannot download repodata/repomd.xml: All mirrors were tried`

经检查，是系统时间问题。通过 ntp 重新同步虚拟机内系统时间后解决。