'프로그램 사용'에 해당되는 글 2305건

  1. 2025.05.17 ros 2 install on ubuntu 24.04, rviz 2
  2. 2025.05.07 kinect 1.x, 2.x color <-> depth mapping
  3. 2025.05.06 kinect v2 잘못된 깊이 맵 맵핑
  4. 2025.05.05 libfreenect2 rgb / depth 매핑 소스코드 분석
  5. 2025.05.01 kinect rgb - depth mapping
  6. 2025.04.18 mosquitto qos
  7. 2025.04.18 ssh-copy-id
  8. 2025.04.16 blender + kinect
  9. 2025.04.15 kinect 깊이 정밀도
  10. 2025.04.08 ros...?
프로그램 사용/ros2025. 5. 17. 21:56

이걸 위해서(!)

nvme도 사고,

노트북 뚜껑도 따고,

ubuntu 24.04도 깔고!

 

귀찮아서 export 는 빼고 진행 중

ubuntu 24.04 에서 진행해서 마지막 패키지 명은 변경

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

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 upgrade -y

sudo apt install ros-jazzy-desktop

 

ros-desktop-full 이렇게 하지 왜 저런 이상한(?) 짓을 하고 그래?!?!

$ sudo apt-cache search ros | grep ^ros | grep desktop
ros-jazzy-clearpath-desktop - Packages for working with Clearpath Platforms from a ROS 2 desktop.
ros-jazzy-desktop - A package which extends 'ros_base' and includes high level packages like vizualization tools and demos.
ros-jazzy-desktop-full - Provides a 'batteries included' experience to novice users.
ros-jazzy-leo - Metapackage of software for Leo Rover common to the robot and ROS desktop
ros-jazzy-leo-desktop - Metapackage of software for operating Leo Rover from ROS desktop
ros-jazzy-turtlebot4-desktop - Turtlebot4 Desktop Metapackage
ros-rolling-desktop - A package which extends 'ros_base' and includes high level packages like vizualization tools and demos.
ros-rolling-desktop-full - Provides a 'batteries included' experience to novice users.
ros-rolling-leo - Metapackage of software for Leo Rover common to the robot and ROS desktop
ros-rolling-leo-desktop - Metapackage of software for operating Leo Rover from ROS desktop

[링크 : https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html]

 

잘 보니.. ubuntu의 이름이 아니라 ROS 2의 이름을 우분투 버전별로 지은거였네? 미친 ?!?!

[링크 : https://docs.ros.org/en/jazzy/Releases.html]

 

어우... full 이라 그런가 정말 흉악한 갯수가 설치되네

$ sudo apt-get install ros-jazzy-desktop-full
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  autoconf automake autotools-dev babeltrace binutils binutils-common
  binutils-x86-64-linux-gnu blt build-essential bzip2-doc ca-certificates-java
  catch2 cmake cmake-data comerr-dev cppcheck cppzmq-dev default-jdk
  default-jdk-headless default-jre default-jre-headless
  default-libmysqlclient-dev docutils-common dpkg-dev fakeroot
  fonts-dejavu-extra fonts-lato fonts-liberation2 fonts-lyx fonts-open-sans
  freeglut3-dev g++ g++-13 g++-13-x86-64-linux-gnu g++-x86-64-linux-gnu gcc
  gcc-13 gcc-13-x86-64-linux-gnu gcc-x86-64-linux-gnu gdal-data gdal-plugins
  gfortran gfortran-13 gfortran-13-x86-64-linux-gnu gfortran-x86-64-linux-gnu
  glslang-dev glslc google-mock googletest graphviz hdf5-helpers icu-devtools
  isympy-common isympy3 java-common javascript-common krb5-multidev libaec-dev
  libaec0 libalgorithm-diff-perl libalgorithm-diff-xs-perl
  libalgorithm-merge-perl libamd-comgr2 libamdhip64-5 libann0 libaom-dev
  libarmadillo-dev libarmadillo12 libarpack2-dev libarpack2t64 libasan8
  libasound2-dev libassimp-dev libassimp5 libatk-wrapper-java
  libatk-wrapper-java-jni libavcodec-dev libavdevice-dev libavdevice60
  libavfilter-dev libavformat-dev libavutil-dev libbenchmark-dev
  libbenchmark1.8.3 libbinutils libblas-dev libblkid-dev libblosc-dev
  libblosc1 libboost-all-dev libboost-atomic-dev libboost-atomic1.83-dev
  libboost-atomic1.83.0 libboost-chrono-dev libboost-chrono1.83-dev
  libboost-chrono1.83.0t64 libboost-container-dev libboost-container1.83-dev
  libboost-container1.83.0 libboost-context-dev libboost-context1.83-dev
  libboost-context1.83.0 libboost-coroutine-dev libboost-coroutine1.83-dev
  libboost-coroutine1.83.0 libboost-date-time-dev libboost-date-time1.83-dev
  libboost-date-time1.83.0 libboost-dev libboost-exception-dev
  libboost-exception1.83-dev libboost-fiber-dev libboost-fiber1.83-dev
  libboost-fiber1.83.0 libboost-filesystem-dev libboost-filesystem1.83-dev
  libboost-filesystem1.83.0 libboost-graph-dev libboost-graph-parallel-dev
  libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0
  libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev
  libboost-iostreams1.83-dev libboost-iostreams1.83.0 libboost-json-dev
  libboost-json1.83-dev libboost-json1.83.0 libboost-locale-dev
  libboost-locale1.83-dev libboost-locale1.83.0 libboost-log-dev
  libboost-log1.83-dev libboost-log1.83.0 libboost-math-dev
  libboost-math1.83-dev libboost-math1.83.0 libboost-mpi-dev
  libboost-mpi-python-dev libboost-mpi-python1.83-dev
  libboost-mpi-python1.83.0 libboost-mpi1.83-dev libboost-mpi1.83.0
  libboost-nowide-dev libboost-nowide1.83-dev libboost-nowide1.83.0
  libboost-numpy-dev libboost-numpy1.83-dev libboost-numpy1.83.0
  libboost-program-options-dev libboost-program-options1.83-dev
  libboost-program-options1.83.0 libboost-python-dev libboost-python1.83-dev
  libboost-python1.83.0 libboost-random-dev libboost-random1.83-dev
  libboost-random1.83.0 libboost-regex-dev libboost-regex1.83-dev
  libboost-regex1.83.0 libboost-serialization-dev
  libboost-serialization1.83-dev libboost-serialization1.83.0
  libboost-stacktrace-dev libboost-stacktrace1.83-dev
  libboost-stacktrace1.83.0 libboost-system-dev libboost-system1.83-dev
  libboost-system1.83.0 libboost-test-dev libboost-test1.83-dev
  libboost-test1.83.0 libboost-thread-dev libboost-thread1.83-dev
  libboost-thread1.83.0 libboost-timer-dev libboost-timer1.83-dev
  libboost-timer1.83.0 libboost-tools-dev libboost-type-erasure-dev
  libboost-type-erasure1.83-dev libboost-type-erasure1.83.0 libboost-url-dev
  libboost-url1.83-dev libboost-url1.83.0 libboost-wave-dev
  libboost-wave1.83-dev libboost-wave1.83.0 libboost1.83-dev
  libboost1.83-tools-dev libbrotli-dev libbsd-dev libbullet-dev
  libbullet3.24t64 libbz2-dev libcaf-openmpi-3t64 libcc1-0 libccd-dev libccd2
  libcdt5 libcfitsio-dev libcfitsio-doc libcfitsio10t64 libcgraph6 libcharls2
  libclang1-15t64 libcoarrays-dev libcoarrays-openmpi-dev
  libconsole-bridge-dev libconsole-bridge1.0 libctf-nobfd0 libctf0
  libcurl4-openssl-dev libdav1d-dev libdbus-1-dev libdc1394-25 libdc1394-dev
  libde265-dev libdecor-0-dev libdeflate-dev libdouble-conversion-dev
  libdouble-conversion3 libdpkg-perl libdraco8 libdrm-dev libegl-dev
  libeigen3-dev libevent-2.1-7t64 libevent-core-2.1-7t64 libevent-dev
  libevent-extra-2.1-7t64 libevent-openssl-2.1-7t64 libevent-pthreads-2.1-7t64
  libexif-dev libexif-doc libexpat1-dev libfabric1 libfakeroot libfcl-dev
  libfcl0.7 libffi-dev libfile-fcntllock-perl libflann-dev libflann1.9
  libfmt-dev libfmt9 libfontconfig-dev libfontconfig1-dev libfreeimage-dev
  libfreeimage3 libfreetype-dev libfreexl-dev libfreexl1 libfyba-dev
  libfyba0t64 libgbm-dev libgcc-13-dev libgdal-dev libgdal34t64 libgdcm-dev
  libgdcm3.0t64 libgeos-c1t64 libgeos-dev libgeos3.12.1t64 libgeotiff-dev
  libgeotiff5 libgflags-dev libgflags2.2 libgfortran-13-dev libgif-dev
  libgirepository-2.0-0 libgl-dev libgl1-mesa-dev libgl2ps-dev libgl2ps1.4
  libgles-dev libgles1 libglew-dev libglew2.2 libglib2.0-dev
  libglib2.0-dev-bin libglu1-mesa-dev libglut-dev libglut3.12
  libglvnd-core-dev libglvnd-dev libglx-dev libgphoto2-dev libgprofng0
  libgssrpc4t64 libgtest-dev libgts-0.7-5t64 libgts-bin libgts-dev libgvc6
  libgvpr2 libhdf4-0-alt libhdf4-alt-dev libhdf5-103-1t64 libhdf5-cpp-103-1t64
  libhdf5-dev libhdf5-fortran-102t64 libhdf5-hl-100t64 libhdf5-hl-cpp-100t64
  libhdf5-hl-fortran-100t64 libhdf5-mpi-dev libhdf5-openmpi-103-1t64
  libhdf5-openmpi-cpp-103-1t64 libhdf5-openmpi-dev
  libhdf5-openmpi-fortran-102t64 libhdf5-openmpi-hl-100t64
  libhdf5-openmpi-hl-cpp-100t64 libhdf5-openmpi-hl-fortran-100t64 libheif-dev
  libhsa-runtime64-1 libhsakmt1 libhwasan0 libhwloc-dev libhwloc-plugins
  libhwloc15 libibus-1.0-dev libibverbs-dev libice-dev libicu-dev
  libimath-3-1-29t64 libimath-dev libitm1 libjack-jackd2-0 libjbig-dev
  libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev libjs-jquery libjs-jquery-ui
  libjs-sphinxdoc libjs-underscore libjson-c-dev libjsoncpp-dev libjsoncpp25
  libjxr0t64 libkadm5clnt-mit12 libkadm5srv-mit12 libkdb5-10t64 libkml-dev
  libkmlbase1t64 libkmlconvenience1t64 libkmldom1t64 libkmlengine1t64
  libkmlregionator1t64 libkmlxsd1t64 libkrb5-dev liblab-gamut1 liblapack-dev
  liblbfgsb0 liblept5 liblerc-dev libllvm15t64 libllvm17t64 liblsan0
  libltdl-dev liblttng-ctl0t64 liblttng-ust-common1t64 liblttng-ust-ctl5t64
  liblttng-ust-dev liblttng-ust-python-agent1t64 liblttng-ust1t64 liblz4-dev
  liblzma-dev libmd-dev libmd4c0 libminizip-dev libminizip1t64 libmount-dev
  libmunge2 libmysqlclient-dev libmysqlclient21 libnetcdf-dev libnetcdf19t64
  libnl-3-dev libnl-route-3-dev libnorm-dev libnuma-dev liboctomap-dev
  liboctomap1.9t64 libodbc2 libodbccr2 libodbcinst2 libode-dev libode8t64
  libogdi-dev libogdi4.1 libogg-dev libogre-1.9-dev libogre-1.9.0t64
  libopenal-data libopenal1 libopencv-calib3d-dev libopencv-calib3d406t64
  libopencv-contrib-dev libopencv-contrib406t64 libopencv-core-dev
  libopencv-core406t64 libopencv-dev libopencv-dnn-dev libopencv-dnn406t64
  libopencv-features2d-dev libopencv-features2d406t64 libopencv-flann-dev
  libopencv-flann406t64 libopencv-highgui-dev libopencv-highgui406t64
  libopencv-imgcodecs-dev libopencv-imgcodecs406t64 libopencv-imgproc-dev
  libopencv-imgproc406t64 libopencv-java libopencv-ml-dev libopencv-ml406t64
  libopencv-objdetect-dev libopencv-objdetect406t64 libopencv-photo-dev
  libopencv-photo406t64 libopencv-shape-dev libopencv-shape406t64
  libopencv-stitching-dev libopencv-stitching406t64 libopencv-superres-dev
  libopencv-superres406t64 libopencv-video-dev libopencv-video406t64
  libopencv-videoio-dev libopencv-videoio406t64 libopencv-videostab-dev
  libopencv-videostab406t64 libopencv-viz-dev libopencv-viz406t64
  libopencv406-jni libopenexr-3-1-30 libopenexr-dev libopengl-dev
  libopenjp2-7-dev libopenmpi-dev libopenmpi3t64 libopenni-dev
  libopenni-sensor-pointclouds0 libopenni0t64 libopenni2-0 libopenni2-dev
  liborocos-kdl-dev liborocos-kdl1.5 libpathplan4 libpciaccess-dev
  libpcl-apps1.14 libpcl-common1.14 libpcl-dev libpcl-features1.14
  libpcl-filters1.14 libpcl-io1.14 libpcl-kdtree1.14 libpcl-keypoints1.14
  libpcl-ml1.14 libpcl-octree1.14 libpcl-outofcore1.14 libpcl-people1.14
  libpcl-recognition1.14 libpcl-registration1.14 libpcl-sample-consensus1.14
  libpcl-search1.14 libpcl-segmentation1.14 libpcl-stereo1.14
  libpcl-surface1.14 libpcl-tracking1.14 libpcl-visualization1.14 libpcre16-3
  libpcre2-16-0 libpcre2-dev libpcre2-posix3 libpcre3 libpcre3-dev libpcre32-3
  libpcrecpp0v5 libpgm-dev libpkgconf3 libpmix-dev libpmix2t64 libpng-dev
  libpng-tools libpoco-dev libpocoactiverecord80t64 libpococrypto80t64
  libpocodata80t64 libpocodatamysql80t64 libpocodataodbc80t64
  libpocodatapostgresql80t64 libpocodatasqlite80t64 libpocoencodings80t64
  libpocofoundation80t64 libpocojson80t64 libpocojwt80t64 libpocomongodb80t64
  libpoconet80t64 libpoconetssl80t64 libpocoredis80t64 libpocoutil80t64
  libpocoxml80t64 libpocozip80t64 libpoppler-dev libpoppler-private-dev
  libpostproc-dev libpq-dev libpq5 libproj-dev libproj25 libprotobuf-dev
  libprotobuf-lite32t64 libprotoc-dev libprotoc32t64 libpsm-infinipath1
  libpsm2-2 libpthread-stubs0-dev libpugixml-dev libpugixml1v5 libpulse-dev
  libpyside2-dev libpyside2-py3-5.15t64 libpython3-dev libpython3.12-dev
  libqhull-dev libqhull-r8.0 libqhull8.0 libqhullcpp8.0 libqt5charts5
  libqt5concurrent5t64 libqt5core5t64 libqt5dbus5t64 libqt5designer5
  libqt5designercomponents5 libqt5gui5t64 libqt5help5 libqt5location5
  libqt5location5-plugins libqt5network5t64 libqt5opengl5-dev libqt5opengl5t64
  libqt5positioning5 libqt5positioning5-plugins libqt5positioningquick5
  libqt5printsupport5t64 libqt5qml5 libqt5qmlmodels5 libqt5qmlworkerscript5
  libqt5quick5 libqt5quickcontrols2-5 libqt5quickparticles5 libqt5quickshapes5
  libqt5quicktemplates2-5 libqt5quicktest5 libqt5quickwidgets5 libqt5sensors5
  libqt5serialport5 libqt5sql5-sqlite libqt5sql5t64 libqt5svg5 libqt5test5t64
  libqt5waylandclient5 libqt5waylandcompositor5 libqt5webchannel5
  libqt5webkit5 libqt5webkit5-dev libqt5widgets5t64 libqt5xml5t64 libquadmath0
  libraw1394-dev libraw1394-tools libraw23t64 librdmacm1t64 librhash0
  librttopo-dev librttopo1 libruby libruby3.2 libsamplerate0-dev libsdl2-2.0-0
  libsdl2-dev libselinux1-dev libsepol-dev libsframe1 libshaderc-dev
  libshaderc1 libsharpyuv-dev libshiboken2-dev libshiboken2-py3-5.15t64
  libsm-dev libsndio-dev libsndio7.0 libsocket++1 libsodium-dev
  libspatialite-dev libspatialite8t64 libspdlog-dev libspdlog1.12
  libsqlite3-dev libssl-dev libstdc++-13-dev libsuperlu-dev libsuperlu6
  libswresample-dev libswscale-dev libsz2 libtbb-dev libtbb12 libtbbbind-2-5
  libtbbmalloc2 libtesseract5 libtheora-dev libtiff-dev libtiffxx6
  libtinyxml2-10 libtinyxml2-dev libtinyxml2.6.2v5 libtirpc-dev libtk8.6
  libtool libtsan2 libubsan1 libucx0 libudev-dev liburcu-dev liburcu8t64
  liburdfdom-dev liburdfdom-headers-dev liburdfdom-model-state4.0
  liburdfdom-model4.0 liburdfdom-sensor4.0 liburdfdom-world4.0
  liburiparser-dev liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libutfcpp-dev
  libvtk9-dev libvtk9-java libvtk9-qt-dev libvtk9.1t64 libvtk9.1t64-qt
  libvulkan-dev libwayland-bin libwayland-dev libwebp-dev libwebpdecoder3
  libx11-dev libx11-xcb-dev libx265-dev libxau-dev libxaw7-dev
  libxcb-randr0-dev libxcb-render0-dev libxcb-xinerama0 libxcb-xinput0
  libxcb1-dev libxcursor-dev libxdmcp-dev libxerces-c-dev libxerces-c3.2t64
  libxext-dev libxfixes-dev libxft-dev libxi-dev libxinerama-dev
  libxkbcommon-dev libxml2-dev libxml2-utils libxmu-dev libxmu-headers
  libxnvctrl0 libxpm-dev libxrandr-dev libxrender-dev libxss-dev libxt-dev
  libxv-dev libxxf86vm-dev libyaml-cpp-dev libyaml-cpp0.8 libyaml-dev
  libzip-dev libzip4t64 libzmq3-dev libzstd-dev libzzip-0-13t64 libzzip-dev
  lto-disabled-list lttng-tools m4 make mpi-default-bin mpi-default-dev
  mysql-common opencv-data openjdk-21-jdk openjdk-21-jdk-headless
  openjdk-21-jre openjdk-21-jre-headless openmpi-bin openmpi-common
  openni-utils pkg-config pkgconf pkgconf-bin proj-bin proj-data
  protobuf-compiler pybind11-dev pydocstyle pyflakes3 pyqt5-dev
  python-matplotlib-data python3-appdirs python3-argcomplete python3-brotli
  python3-bs4 python3-catkin-pkg-modules python3-contourpy python3-cssselect
  python3-cycler python3-decorator python3-deprecated python3-dev
  python3-docutils python3-empy python3-flake8 python3-flake8-builtins
  python3-flake8-comprehensions python3-flake8-docstrings
  python3-flake8-import-order python3-flake8-quotes python3-fonttools
  python3-fs python3-html5lib python3-importlib-metadata python3-iniconfig
  python3-kiwisolver python3-lark python3-lxml python3-lz4 python3-matplotlib
  python3-mccabe python3-more-itertools python3-mpi4py python3-mpmath
  python3-numpy python3-opencv python3-packaging python3-pil.imagetk
  python3-pluggy python3-protobuf python3-psutil python3-pycodestyle
  python3-pydocstyle python3-pydot python3-pyflakes python3-pykdl
  python3-pyqt5 python3-pyqt5.qtsvg python3-pyqt5.sip python3-pyside2.qtcore
  python3-pyside2.qtgui python3-pyside2.qtsvg python3-pyside2.qtwidgets
  python3-pytest python3-roman python3-rosdistro-modules
  python3-rospkg-modules python3-scipy python3-semver python3-setuptools
  python3-sip python3-sip-dev python3-snowballstemmer python3-soupsieve
  python3-sympy python3-tk python3-ufolib2 python3-unicodedata2 python3-vtk9
  python3-webencodings python3-wrapt python3-zipp python3.12-dev qdoc-qt5
  qhelpgenerator-qt5 qml-module-qt-labs-folderlistmodel
  qml-module-qt-labs-platform qml-module-qt-labs-settings qml-module-qtcharts
  qml-module-qtgraphicaleffects qml-module-qtlocation qml-module-qtpositioning
  qml-module-qtqml qml-module-qtqml-models2 qml-module-qtquick-controls
  qml-module-qtquick-controls2 qml-module-qtquick-dialogs
  qml-module-qtquick-extras qml-module-qtquick-layouts
  qml-module-qtquick-privatewidgets qml-module-qtquick-templates2
  qml-module-qtquick-window2 qml-module-qtquick2 qt5-assistant
  qt5-gtk-platformtheme qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
  qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools qtchooser
  qtdeclarative5-dev qtdeclarative5-dev-tools qtquickcontrols2-5-dev
  qttools5-dev qttools5-dev-tools qttools5-private-dev qttranslations5-l10n
  qtwayland5 rake rapidjson-dev ros-jazzy-action-msgs
  ros-jazzy-action-tutorials-cpp ros-jazzy-action-tutorials-interfaces
  ros-jazzy-action-tutorials-py ros-jazzy-actionlib-msgs
  ros-jazzy-actuator-msgs ros-jazzy-ament-cmake ros-jazzy-ament-cmake-auto
  ros-jazzy-ament-cmake-copyright ros-jazzy-ament-cmake-core
  ros-jazzy-ament-cmake-cppcheck ros-jazzy-ament-cmake-cpplint
  ros-jazzy-ament-cmake-export-definitions
  ros-jazzy-ament-cmake-export-dependencies
  ros-jazzy-ament-cmake-export-include-directories
  ros-jazzy-ament-cmake-export-interfaces
  ros-jazzy-ament-cmake-export-libraries
  ros-jazzy-ament-cmake-export-link-flags ros-jazzy-ament-cmake-export-targets
  ros-jazzy-ament-cmake-flake8 ros-jazzy-ament-cmake-gen-version-h
  ros-jazzy-ament-cmake-gmock ros-jazzy-ament-cmake-gtest
  ros-jazzy-ament-cmake-include-directories ros-jazzy-ament-cmake-libraries
  ros-jazzy-ament-cmake-lint-cmake ros-jazzy-ament-cmake-pep257
  ros-jazzy-ament-cmake-pytest ros-jazzy-ament-cmake-python
  ros-jazzy-ament-cmake-ros ros-jazzy-ament-cmake-target-dependencies
  ros-jazzy-ament-cmake-test ros-jazzy-ament-cmake-uncrustify
  ros-jazzy-ament-cmake-version ros-jazzy-ament-cmake-xmllint
  ros-jazzy-ament-copyright ros-jazzy-ament-cppcheck ros-jazzy-ament-cpplint
  ros-jazzy-ament-flake8 ros-jazzy-ament-index-cpp
  ros-jazzy-ament-index-python ros-jazzy-ament-lint ros-jazzy-ament-lint-auto
  ros-jazzy-ament-lint-cmake ros-jazzy-ament-lint-common
  ros-jazzy-ament-package ros-jazzy-ament-pep257 ros-jazzy-ament-uncrustify
  ros-jazzy-ament-xmllint ros-jazzy-angles ros-jazzy-builtin-interfaces
  ros-jazzy-camera-calibration ros-jazzy-camera-calibration-parsers
  ros-jazzy-camera-info-manager ros-jazzy-class-loader
  ros-jazzy-common-interfaces ros-jazzy-composition
  ros-jazzy-composition-interfaces ros-jazzy-compressed-depth-image-transport
  ros-jazzy-compressed-image-transport ros-jazzy-console-bridge-vendor
  ros-jazzy-cv-bridge ros-jazzy-demo-nodes-cpp ros-jazzy-demo-nodes-cpp-native
  ros-jazzy-demo-nodes-py ros-jazzy-depth-image-proc
  ros-jazzy-depthimage-to-laserscan ros-jazzy-desktop
  ros-jazzy-diagnostic-msgs ros-jazzy-domain-coordinator
  ros-jazzy-dummy-map-server ros-jazzy-dummy-robot-bringup
  ros-jazzy-dummy-sensors ros-jazzy-eigen3-cmake-module
  ros-jazzy-example-interfaces ros-jazzy-examples-rclcpp-minimal-action-client
  ros-jazzy-examples-rclcpp-minimal-action-server
  ros-jazzy-examples-rclcpp-minimal-client
  ros-jazzy-examples-rclcpp-minimal-composition
  ros-jazzy-examples-rclcpp-minimal-publisher
  ros-jazzy-examples-rclcpp-minimal-service
  ros-jazzy-examples-rclcpp-minimal-subscriber
  ros-jazzy-examples-rclcpp-minimal-timer
  ros-jazzy-examples-rclcpp-multithreaded-executor
  ros-jazzy-examples-rclpy-executors
  ros-jazzy-examples-rclpy-minimal-action-client
  ros-jazzy-examples-rclpy-minimal-action-server
  ros-jazzy-examples-rclpy-minimal-client
  ros-jazzy-examples-rclpy-minimal-publisher
  ros-jazzy-examples-rclpy-minimal-service
  ros-jazzy-examples-rclpy-minimal-subscriber ros-jazzy-fastcdr
  ros-jazzy-fastrtps ros-jazzy-fastrtps-cmake-module ros-jazzy-filters
  ros-jazzy-foonathan-memory-vendor ros-jazzy-geometry-msgs
  ros-jazzy-geometry2 ros-jazzy-gmock-vendor ros-jazzy-gps-msgs
  ros-jazzy-gtest-vendor ros-jazzy-gz-cmake-vendor ros-jazzy-gz-common-vendor
  ros-jazzy-gz-dartsim-vendor ros-jazzy-gz-fuel-tools-vendor
  ros-jazzy-gz-gui-vendor ros-jazzy-gz-math-vendor ros-jazzy-gz-msgs-vendor
  ros-jazzy-gz-ogre-next-vendor ros-jazzy-gz-physics-vendor
  ros-jazzy-gz-plugin-vendor ros-jazzy-gz-rendering-vendor
  ros-jazzy-gz-sensors-vendor ros-jazzy-gz-sim-vendor
  ros-jazzy-gz-tools-vendor ros-jazzy-gz-transport-vendor
  ros-jazzy-gz-utils-vendor ros-jazzy-image-common ros-jazzy-image-geometry
  ros-jazzy-image-pipeline ros-jazzy-image-proc ros-jazzy-image-publisher
  ros-jazzy-image-rotate ros-jazzy-image-tools ros-jazzy-image-transport
  ros-jazzy-image-transport-plugins ros-jazzy-image-view
  ros-jazzy-interactive-markers ros-jazzy-intra-process-demo ros-jazzy-joy
  ros-jazzy-kdl-parser ros-jazzy-keyboard-handler ros-jazzy-laser-filters
  ros-jazzy-laser-geometry ros-jazzy-launch ros-jazzy-launch-ros
  ros-jazzy-launch-testing ros-jazzy-launch-testing-ament-cmake
  ros-jazzy-launch-testing-ros ros-jazzy-launch-xml ros-jazzy-launch-yaml
  ros-jazzy-libcurl-vendor ros-jazzy-liblz4-vendor
  ros-jazzy-libstatistics-collector ros-jazzy-libyaml-vendor
  ros-jazzy-lifecycle ros-jazzy-lifecycle-msgs ros-jazzy-logging-demo
  ros-jazzy-map-msgs ros-jazzy-mcap-vendor ros-jazzy-message-filters
  ros-jazzy-nav-msgs ros-jazzy-orocos-kdl-vendor ros-jazzy-osrf-pycommon
  ros-jazzy-pcl-conversions ros-jazzy-pcl-msgs ros-jazzy-pcl-ros
  ros-jazzy-pendulum-control ros-jazzy-pendulum-msgs ros-jazzy-perception
  ros-jazzy-perception-pcl ros-jazzy-pluginlib ros-jazzy-point-cloud-transport
  ros-jazzy-pybind11-vendor ros-jazzy-python-cmake-module
  ros-jazzy-python-orocos-kdl-vendor ros-jazzy-python-qt-binding
  ros-jazzy-qt-dotgraph ros-jazzy-qt-gui ros-jazzy-qt-gui-cpp
  ros-jazzy-qt-gui-py-common ros-jazzy-quality-of-service-demo-cpp
  ros-jazzy-quality-of-service-demo-py ros-jazzy-rcl ros-jazzy-rcl-action
  ros-jazzy-rcl-interfaces ros-jazzy-rcl-lifecycle
  ros-jazzy-rcl-logging-interface ros-jazzy-rcl-logging-spdlog
  ros-jazzy-rcl-yaml-param-parser ros-jazzy-rclcpp ros-jazzy-rclcpp-action
  ros-jazzy-rclcpp-components ros-jazzy-rclcpp-lifecycle ros-jazzy-rclpy
  ros-jazzy-rcpputils ros-jazzy-rcutils ros-jazzy-resource-retriever
  ros-jazzy-rmw ros-jazzy-rmw-dds-common ros-jazzy-rmw-fastrtps-cpp
  ros-jazzy-rmw-fastrtps-shared-cpp ros-jazzy-rmw-implementation
  ros-jazzy-rmw-implementation-cmake ros-jazzy-robot-state-publisher
  ros-jazzy-ros-base ros-jazzy-ros-core ros-jazzy-ros-environment
  ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-image ros-jazzy-ros-gz-interfaces
  ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-sim-demos ros-jazzy-ros-workspace
  ros-jazzy-ros2action ros-jazzy-ros2bag ros-jazzy-ros2cli
  ros-jazzy-ros2cli-common-extensions ros-jazzy-ros2component
  ros-jazzy-ros2doctor ros-jazzy-ros2interface ros-jazzy-ros2launch
  ros-jazzy-ros2lifecycle ros-jazzy-ros2multicast ros-jazzy-ros2node
  ros-jazzy-ros2param ros-jazzy-ros2pkg ros-jazzy-ros2run
  ros-jazzy-ros2service ros-jazzy-ros2topic ros-jazzy-rosbag2
  ros-jazzy-rosbag2-compression ros-jazzy-rosbag2-compression-zstd
  ros-jazzy-rosbag2-cpp ros-jazzy-rosbag2-interfaces ros-jazzy-rosbag2-py
  ros-jazzy-rosbag2-storage ros-jazzy-rosbag2-storage-default-plugins
  ros-jazzy-rosbag2-storage-mcap ros-jazzy-rosbag2-storage-sqlite3
  ros-jazzy-rosbag2-transport ros-jazzy-rosgraph-msgs ros-jazzy-rosidl-adapter
  ros-jazzy-rosidl-cli ros-jazzy-rosidl-cmake ros-jazzy-rosidl-core-generators
  ros-jazzy-rosidl-core-runtime ros-jazzy-rosidl-default-generators
  ros-jazzy-rosidl-default-runtime ros-jazzy-rosidl-dynamic-typesupport
  ros-jazzy-rosidl-dynamic-typesupport-fastrtps ros-jazzy-rosidl-generator-c
  ros-jazzy-rosidl-generator-cpp ros-jazzy-rosidl-generator-py
  ros-jazzy-rosidl-generator-type-description ros-jazzy-rosidl-parser
  ros-jazzy-rosidl-pycommon ros-jazzy-rosidl-runtime-c
  ros-jazzy-rosidl-runtime-cpp ros-jazzy-rosidl-runtime-py
  ros-jazzy-rosidl-typesupport-c ros-jazzy-rosidl-typesupport-cpp
  ros-jazzy-rosidl-typesupport-fastrtps-c
  ros-jazzy-rosidl-typesupport-fastrtps-cpp
  ros-jazzy-rosidl-typesupport-interface
  ros-jazzy-rosidl-typesupport-introspection-c
  ros-jazzy-rosidl-typesupport-introspection-cpp ros-jazzy-rpyutils
  ros-jazzy-rqt-action ros-jazzy-rqt-bag ros-jazzy-rqt-bag-plugins
  ros-jazzy-rqt-common-plugins ros-jazzy-rqt-console ros-jazzy-rqt-graph
  ros-jazzy-rqt-gui ros-jazzy-rqt-gui-cpp ros-jazzy-rqt-gui-py
  ros-jazzy-rqt-image-view ros-jazzy-rqt-msg ros-jazzy-rqt-plot
  ros-jazzy-rqt-publisher ros-jazzy-rqt-py-common ros-jazzy-rqt-py-console
  ros-jazzy-rqt-reconfigure ros-jazzy-rqt-service-caller ros-jazzy-rqt-shell
  ros-jazzy-rqt-srv ros-jazzy-rqt-topic ros-jazzy-rttest
  ros-jazzy-rviz-assimp-vendor ros-jazzy-rviz-common
  ros-jazzy-rviz-default-plugins ros-jazzy-rviz-ogre-vendor
  ros-jazzy-rviz-rendering ros-jazzy-rviz2 ros-jazzy-sdformat-urdf
  ros-jazzy-sdformat-vendor ros-jazzy-sdl2-vendor ros-jazzy-sensor-msgs
  ros-jazzy-sensor-msgs-py ros-jazzy-service-msgs ros-jazzy-shape-msgs
  ros-jazzy-simulation ros-jazzy-spdlog-vendor ros-jazzy-sqlite3-vendor
  ros-jazzy-sros2 ros-jazzy-sros2-cmake ros-jazzy-statistics-msgs
  ros-jazzy-std-msgs ros-jazzy-std-srvs ros-jazzy-stereo-image-proc
  ros-jazzy-stereo-msgs ros-jazzy-tango-icons-vendor
  ros-jazzy-teleop-twist-joy ros-jazzy-teleop-twist-keyboard ros-jazzy-tf2
  ros-jazzy-tf2-bullet ros-jazzy-tf2-eigen ros-jazzy-tf2-eigen-kdl
  ros-jazzy-tf2-geometry-msgs ros-jazzy-tf2-kdl ros-jazzy-tf2-msgs
  ros-jazzy-tf2-py ros-jazzy-tf2-ros ros-jazzy-tf2-ros-py
  ros-jazzy-tf2-sensor-msgs ros-jazzy-tf2-tools
  ros-jazzy-theora-image-transport ros-jazzy-tinyxml2-vendor ros-jazzy-tlsf
  ros-jazzy-tlsf-cpp ros-jazzy-topic-monitor ros-jazzy-tracetools
  ros-jazzy-tracetools-image-pipeline ros-jazzy-trajectory-msgs
  ros-jazzy-turtlesim ros-jazzy-type-description-interfaces
  ros-jazzy-uncrustify-vendor ros-jazzy-unique-identifier-msgs ros-jazzy-urdf
  ros-jazzy-urdf-parser-plugin ros-jazzy-urdfdom ros-jazzy-urdfdom-headers
  ros-jazzy-vision-msgs ros-jazzy-vision-opencv ros-jazzy-visualization-msgs
  ros-jazzy-xacro ros-jazzy-yaml-cpp-vendor ros-jazzy-zstd-image-transport
  ros-jazzy-zstd-vendor ruby ruby-net-telnet ruby-rubygems ruby-sdbm
  ruby-webrick ruby-xmlrpc ruby3.2 rubygems-integration shiboken2 sip-dev
  spirv-headers spirv-tools tango-icon-theme tcl-dev tcl8.6-dev tk tk-dev
  tk8.6 tk8.6-blt2.5 tk8.6-dev uncrustify unicode-data unixodbc-common
  unixodbc-dev uuid-dev vtk9 x11proto-dev xorg-sgml-doctools xtrans-dev
  zlib1g-dev
Suggested packages:
  autoconf-archive gnu-standards autoconf-doc gettext binutils-doc gprofng-gui
  blt-demo cmake-doc cmake-format elpa-cmake-mode ninja-build doc-base
  cppcheck-gui clang clang-tidy debian-keyring g++-multilib g++-13-multilib
  gcc-13-doc gcc-multilib flex bison gcc-doc gcc-13-multilib gcc-13-locales
  gdb-x86-64-linux-gnu gfortran-multilib gfortran-doc gfortran-13-multilib
  gfortran-13-doc glslang-tools gsfonts graphviz-doc apache2 | lighttpd
  | httpd krb5-doc libitpp-dev libasound2-doc libbenchmark-tools liblapack-doc
  libboost-doc libboost1.83-doc gccxml libboost-contract1.83-dev
  libmpfrc++-dev libntl-dev xsltproc doxygen docbook-xsl fop libcurl4-doc
  libidn-dev libldap2-dev librtmp-dev libssh2-1-dev bzr libeigen3-doc
  libfmt-doc freetype2-doc libgdal-doc libgeotiff-epsg geotiff-bin gdal-bin
  glew-utils gir1.2-glib-2.0-dev libglib2.0-doc krb5-user libgts-doc
  libhdf4-doc hdf4-tools libhdf5-doc libhwloc-contrib-plugins libice-doc
  icu-doc jackd2 libjs-jquery-ui-docs libtool-doc liblzma-doc netcdf-bin
  netcdf-doc libnorm-doc odbc-postgresql tdsodbc ogdi-bin ogre-1.9-doc
  libogre-1.9.0v5-dbg libportaudio2 opencv-doc openmpi-doc openni-doc
  openni2-doc libpcl-doc postgresql-doc-16 qgnomeplatform-qt5
  qt5-image-formats-plugins libraw1394-doc libsm-doc sndiod libsystemd-dev
  sqlite3-doc libssl-doc libstdc++-13-doc libsuperlu-doc libtbb-doc gcj-jdk
  vtk9-doc vtk9-examples java-virtual-machine libwayland-doc libx11-doc
  libx265-doc libxaw-doc libxcb-doc libxerces-c-doc libxext-doc libxt-doc
  libyaml-doc lttng-modules-dkms m4-doc make-doc openjdk-21-demo
  openjdk-21-source visualvm fonts-ipafont-gothic fonts-ipafont-mincho
  fonts-wqy-microhei | fonts-wqy-zenhei fonts-indic protobuf-mode-el
  pybind11-doc python-cycler-doc docutils-doc fonts-linuxlibertine
  | ttf-linux-libertine texlive-lang-french texlive-latex-base
  texlive-latex-recommended python3-genshi python-lark-doc
  python3-atomicwrites python3-regex python-lxml-doc cm-super-minimal dvipng
  ffmpeg fonts-staypuft inkscape ipython3 python3-cairocffi python3-gi-cairo
  python3-gobject python3-tornado texlive-extra-utils texlive-latex-extra
  python-mpmath-doc python3-gmpy2 python-pil-doc python3-toml
  python-pyside2-doc python-scipy-doc python-setuptools-doc python-sip-doc
  python3-stemmer texlive-fonts-extra python-sympy-doc tix python3-tk-dbg
  mayavi2 qt5-doc firebird-dev rapidjson-doc ri ruby-dev bundler
  gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doc tk-doc tk8.6-doc
The following NEW packages will be installed:
  autoconf automake autotools-dev babeltrace binutils binutils-common
  binutils-x86-64-linux-gnu blt build-essential bzip2-doc ca-certificates-java
  catch2 cmake cmake-data comerr-dev cppcheck cppzmq-dev default-jdk
  default-jdk-headless default-jre default-jre-headless
  default-libmysqlclient-dev docutils-common dpkg-dev fakeroot
  fonts-dejavu-extra fonts-lato fonts-liberation2 fonts-lyx fonts-open-sans
  freeglut3-dev g++ g++-13 g++-13-x86-64-linux-gnu g++-x86-64-linux-gnu gcc
  gcc-13 gcc-13-x86-64-linux-gnu gcc-x86-64-linux-gnu gdal-data gdal-plugins
  gfortran gfortran-13 gfortran-13-x86-64-linux-gnu gfortran-x86-64-linux-gnu
  glslang-dev glslc google-mock googletest graphviz hdf5-helpers icu-devtools
  isympy-common isympy3 java-common javascript-common krb5-multidev libaec-dev
  libaec0 libalgorithm-diff-perl libalgorithm-diff-xs-perl
  libalgorithm-merge-perl libamd-comgr2 libamdhip64-5 libann0 libaom-dev
  libarmadillo-dev libarmadillo12 libarpack2-dev libarpack2t64 libasan8
  libasound2-dev libassimp-dev libassimp5 libatk-wrapper-java
  libatk-wrapper-java-jni libavcodec-dev libavdevice-dev libavdevice60
  libavfilter-dev libavformat-dev libavutil-dev libbenchmark-dev
  libbenchmark1.8.3 libbinutils libblas-dev libblkid-dev libblosc-dev
  libblosc1 libboost-all-dev libboost-atomic-dev libboost-atomic1.83-dev
  libboost-atomic1.83.0 libboost-chrono-dev libboost-chrono1.83-dev
  libboost-chrono1.83.0t64 libboost-container-dev libboost-container1.83-dev
  libboost-container1.83.0 libboost-context-dev libboost-context1.83-dev
  libboost-context1.83.0 libboost-coroutine-dev libboost-coroutine1.83-dev
  libboost-coroutine1.83.0 libboost-date-time-dev libboost-date-time1.83-dev
  libboost-date-time1.83.0 libboost-dev libboost-exception-dev
  libboost-exception1.83-dev libboost-fiber-dev libboost-fiber1.83-dev
  libboost-fiber1.83.0 libboost-filesystem-dev libboost-filesystem1.83-dev
  libboost-filesystem1.83.0 libboost-graph-dev libboost-graph-parallel-dev
  libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0
  libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev
  libboost-iostreams1.83-dev libboost-iostreams1.83.0 libboost-json-dev
  libboost-json1.83-dev libboost-json1.83.0 libboost-locale-dev
  libboost-locale1.83-dev libboost-locale1.83.0 libboost-log-dev
  libboost-log1.83-dev libboost-log1.83.0 libboost-math-dev
  libboost-math1.83-dev libboost-math1.83.0 libboost-mpi-dev
  libboost-mpi-python-dev libboost-mpi-python1.83-dev
  libboost-mpi-python1.83.0 libboost-mpi1.83-dev libboost-mpi1.83.0
  libboost-nowide-dev libboost-nowide1.83-dev libboost-nowide1.83.0
  libboost-numpy-dev libboost-numpy1.83-dev libboost-numpy1.83.0
  libboost-program-options-dev libboost-program-options1.83-dev
  libboost-program-options1.83.0 libboost-python-dev libboost-python1.83-dev
  libboost-python1.83.0 libboost-random-dev libboost-random1.83-dev
  libboost-random1.83.0 libboost-regex-dev libboost-regex1.83-dev
  libboost-regex1.83.0 libboost-serialization-dev
  libboost-serialization1.83-dev libboost-serialization1.83.0
  libboost-stacktrace-dev libboost-stacktrace1.83-dev
  libboost-stacktrace1.83.0 libboost-system-dev libboost-system1.83-dev
  libboost-system1.83.0 libboost-test-dev libboost-test1.83-dev
  libboost-test1.83.0 libboost-thread-dev libboost-thread1.83-dev
  libboost-thread1.83.0 libboost-timer-dev libboost-timer1.83-dev
  libboost-timer1.83.0 libboost-tools-dev libboost-type-erasure-dev
  libboost-type-erasure1.83-dev libboost-type-erasure1.83.0 libboost-url-dev
  libboost-url1.83-dev libboost-url1.83.0 libboost-wave-dev
  libboost-wave1.83-dev libboost-wave1.83.0 libboost1.83-dev
  libboost1.83-tools-dev libbrotli-dev libbsd-dev libbullet-dev
  libbullet3.24t64 libbz2-dev libcaf-openmpi-3t64 libcc1-0 libccd-dev libccd2
  libcdt5 libcfitsio-dev libcfitsio-doc libcfitsio10t64 libcgraph6 libcharls2
  libclang1-15t64 libcoarrays-dev libcoarrays-openmpi-dev
  libconsole-bridge-dev libconsole-bridge1.0 libctf-nobfd0 libctf0
  libcurl4-openssl-dev libdav1d-dev libdbus-1-dev libdc1394-25 libdc1394-dev
  libde265-dev libdecor-0-dev libdeflate-dev libdouble-conversion-dev
  libdouble-conversion3 libdpkg-perl libdraco8 libdrm-dev libegl-dev
  libeigen3-dev libevent-2.1-7t64 libevent-core-2.1-7t64 libevent-dev
  libevent-extra-2.1-7t64 libevent-openssl-2.1-7t64 libevent-pthreads-2.1-7t64
  libexif-dev libexif-doc libexpat1-dev libfabric1 libfakeroot libfcl-dev
  libfcl0.7 libffi-dev libfile-fcntllock-perl libflann-dev libflann1.9
  libfmt-dev libfmt9 libfontconfig-dev libfontconfig1-dev libfreeimage-dev
  libfreeimage3 libfreetype-dev libfreexl-dev libfreexl1 libfyba-dev
  libfyba0t64 libgbm-dev libgcc-13-dev libgdal-dev libgdal34t64 libgdcm-dev
  libgdcm3.0t64 libgeos-c1t64 libgeos-dev libgeos3.12.1t64 libgeotiff-dev
  libgeotiff5 libgflags-dev libgflags2.2 libgfortran-13-dev libgif-dev
  libgirepository-2.0-0 libgl-dev libgl1-mesa-dev libgl2ps-dev libgl2ps1.4
  libgles-dev libgles1 libglew-dev libglew2.2 libglib2.0-dev
  libglib2.0-dev-bin libglu1-mesa-dev libglut-dev libglut3.12
  libglvnd-core-dev libglvnd-dev libglx-dev libgphoto2-dev libgprofng0
  libgssrpc4t64 libgtest-dev libgts-0.7-5t64 libgts-bin libgts-dev libgvc6
  libgvpr2 libhdf4-0-alt libhdf4-alt-dev libhdf5-103-1t64 libhdf5-cpp-103-1t64
  libhdf5-dev libhdf5-fortran-102t64 libhdf5-hl-100t64 libhdf5-hl-cpp-100t64
  libhdf5-hl-fortran-100t64 libhdf5-mpi-dev libhdf5-openmpi-103-1t64
  libhdf5-openmpi-cpp-103-1t64 libhdf5-openmpi-dev
  libhdf5-openmpi-fortran-102t64 libhdf5-openmpi-hl-100t64
  libhdf5-openmpi-hl-cpp-100t64 libhdf5-openmpi-hl-fortran-100t64 libheif-dev
  libhsa-runtime64-1 libhsakmt1 libhwasan0 libhwloc-dev libhwloc-plugins
  libhwloc15 libibus-1.0-dev libibverbs-dev libice-dev libicu-dev
  libimath-3-1-29t64 libimath-dev libitm1 libjack-jackd2-0 libjbig-dev
  libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev libjs-jquery libjs-jquery-ui
  libjs-sphinxdoc libjs-underscore libjson-c-dev libjsoncpp-dev libjsoncpp25
  libjxr0t64 libkadm5clnt-mit12 libkadm5srv-mit12 libkdb5-10t64 libkml-dev
  libkmlbase1t64 libkmlconvenience1t64 libkmldom1t64 libkmlengine1t64
  libkmlregionator1t64 libkmlxsd1t64 libkrb5-dev liblab-gamut1 liblapack-dev
  liblbfgsb0 liblept5 liblerc-dev libllvm15t64 libllvm17t64 liblsan0
  libltdl-dev liblttng-ctl0t64 liblttng-ust-common1t64 liblttng-ust-ctl5t64
  liblttng-ust-dev liblttng-ust-python-agent1t64 liblttng-ust1t64 liblz4-dev
  liblzma-dev libmd-dev libmd4c0 libminizip-dev libminizip1t64 libmount-dev
  libmunge2 libmysqlclient-dev libmysqlclient21 libnetcdf-dev libnetcdf19t64
  libnl-3-dev libnl-route-3-dev libnorm-dev libnuma-dev liboctomap-dev
  liboctomap1.9t64 libodbc2 libodbccr2 libodbcinst2 libode-dev libode8t64
  libogdi-dev libogdi4.1 libogg-dev libogre-1.9-dev libogre-1.9.0t64
  libopenal-data libopenal1 libopencv-calib3d-dev libopencv-calib3d406t64
  libopencv-contrib-dev libopencv-contrib406t64 libopencv-core-dev
  libopencv-core406t64 libopencv-dev libopencv-dnn-dev libopencv-dnn406t64
  libopencv-features2d-dev libopencv-features2d406t64 libopencv-flann-dev
  libopencv-flann406t64 libopencv-highgui-dev libopencv-highgui406t64
  libopencv-imgcodecs-dev libopencv-imgcodecs406t64 libopencv-imgproc-dev
  libopencv-imgproc406t64 libopencv-java libopencv-ml-dev libopencv-ml406t64
  libopencv-objdetect-dev libopencv-objdetect406t64 libopencv-photo-dev
  libopencv-photo406t64 libopencv-shape-dev libopencv-shape406t64
  libopencv-stitching-dev libopencv-stitching406t64 libopencv-superres-dev
  libopencv-superres406t64 libopencv-video-dev libopencv-video406t64
  libopencv-videoio-dev libopencv-videoio406t64 libopencv-videostab-dev
  libopencv-videostab406t64 libopencv-viz-dev libopencv-viz406t64
  libopencv406-jni libopenexr-3-1-30 libopenexr-dev libopengl-dev
  libopenjp2-7-dev libopenmpi-dev libopenmpi3t64 libopenni-dev
  libopenni-sensor-pointclouds0 libopenni0t64 libopenni2-0 libopenni2-dev
  liborocos-kdl-dev liborocos-kdl1.5 libpathplan4 libpciaccess-dev
  libpcl-apps1.14 libpcl-common1.14 libpcl-dev libpcl-features1.14
  libpcl-filters1.14 libpcl-io1.14 libpcl-kdtree1.14 libpcl-keypoints1.14
  libpcl-ml1.14 libpcl-octree1.14 libpcl-outofcore1.14 libpcl-people1.14
  libpcl-recognition1.14 libpcl-registration1.14 libpcl-sample-consensus1.14
  libpcl-search1.14 libpcl-segmentation1.14 libpcl-stereo1.14
  libpcl-surface1.14 libpcl-tracking1.14 libpcl-visualization1.14 libpcre16-3
  libpcre2-16-0 libpcre2-dev libpcre2-posix3 libpcre3 libpcre3-dev libpcre32-3
  libpcrecpp0v5 libpgm-dev libpkgconf3 libpmix-dev libpmix2t64 libpng-dev
  libpng-tools libpoco-dev libpocoactiverecord80t64 libpococrypto80t64
  libpocodata80t64 libpocodatamysql80t64 libpocodataodbc80t64
  libpocodatapostgresql80t64 libpocodatasqlite80t64 libpocoencodings80t64
  libpocofoundation80t64 libpocojson80t64 libpocojwt80t64 libpocomongodb80t64
  libpoconet80t64 libpoconetssl80t64 libpocoredis80t64 libpocoutil80t64
  libpocoxml80t64 libpocozip80t64 libpoppler-dev libpoppler-private-dev
  libpostproc-dev libpq-dev libpq5 libproj-dev libproj25 libprotobuf-dev
  libprotobuf-lite32t64 libprotoc-dev libprotoc32t64 libpsm-infinipath1
  libpsm2-2 libpthread-stubs0-dev libpugixml-dev libpugixml1v5 libpulse-dev
  libpyside2-dev libpyside2-py3-5.15t64 libpython3-dev libpython3.12-dev
  libqhull-dev libqhull-r8.0 libqhull8.0 libqhullcpp8.0 libqt5charts5
  libqt5concurrent5t64 libqt5core5t64 libqt5dbus5t64 libqt5designer5
  libqt5designercomponents5 libqt5gui5t64 libqt5help5 libqt5location5
  libqt5location5-plugins libqt5network5t64 libqt5opengl5-dev libqt5opengl5t64
  libqt5positioning5 libqt5positioning5-plugins libqt5positioningquick5
  libqt5printsupport5t64 libqt5qml5 libqt5qmlmodels5 libqt5qmlworkerscript5
  libqt5quick5 libqt5quickcontrols2-5 libqt5quickparticles5 libqt5quickshapes5
  libqt5quicktemplates2-5 libqt5quicktest5 libqt5quickwidgets5 libqt5sensors5
  libqt5serialport5 libqt5sql5-sqlite libqt5sql5t64 libqt5svg5 libqt5test5t64
  libqt5waylandclient5 libqt5waylandcompositor5 libqt5webchannel5
  libqt5webkit5 libqt5webkit5-dev libqt5widgets5t64 libqt5xml5t64 libquadmath0
  libraw1394-dev libraw1394-tools libraw23t64 librdmacm1t64 librhash0
  librttopo-dev librttopo1 libruby libruby3.2 libsamplerate0-dev libsdl2-2.0-0
  libsdl2-dev libselinux1-dev libsepol-dev libsframe1 libshaderc-dev
  libshaderc1 libsharpyuv-dev libshiboken2-dev libshiboken2-py3-5.15t64
  libsm-dev libsndio-dev libsndio7.0 libsocket++1 libsodium-dev
  libspatialite-dev libspatialite8t64 libspdlog-dev libspdlog1.12
  libsqlite3-dev libssl-dev libstdc++-13-dev libsuperlu-dev libsuperlu6
  libswresample-dev libswscale-dev libsz2 libtbb-dev libtbb12 libtbbbind-2-5
  libtbbmalloc2 libtesseract5 libtheora-dev libtiff-dev libtiffxx6
  libtinyxml2-10 libtinyxml2-dev libtinyxml2.6.2v5 libtirpc-dev libtk8.6
  libtool libtsan2 libubsan1 libucx0 libudev-dev liburcu-dev liburcu8t64
  liburdfdom-dev liburdfdom-headers-dev liburdfdom-model-state4.0
  liburdfdom-model4.0 liburdfdom-sensor4.0 liburdfdom-world4.0
  liburiparser-dev liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libutfcpp-dev
  libvtk9-dev libvtk9-java libvtk9-qt-dev libvtk9.1t64 libvtk9.1t64-qt
  libvulkan-dev libwayland-bin libwayland-dev libwebp-dev libwebpdecoder3
  libx11-dev libx11-xcb-dev libx265-dev libxau-dev libxaw7-dev
  libxcb-randr0-dev libxcb-render0-dev libxcb-xinerama0 libxcb-xinput0
  libxcb1-dev libxcursor-dev libxdmcp-dev libxerces-c-dev libxerces-c3.2t64
  libxext-dev libxfixes-dev libxft-dev libxi-dev libxinerama-dev
  libxkbcommon-dev libxml2-dev libxml2-utils libxmu-dev libxmu-headers
  libxnvctrl0 libxpm-dev libxrandr-dev libxrender-dev libxss-dev libxt-dev
  libxv-dev libxxf86vm-dev libyaml-cpp-dev libyaml-cpp0.8 libyaml-dev
  libzip-dev libzip4t64 libzmq3-dev libzstd-dev libzzip-0-13t64 libzzip-dev
  lto-disabled-list lttng-tools m4 make mpi-default-bin mpi-default-dev
  mysql-common opencv-data openjdk-21-jdk openjdk-21-jdk-headless
  openjdk-21-jre openjdk-21-jre-headless openmpi-bin openmpi-common
  openni-utils pkg-config pkgconf pkgconf-bin proj-bin proj-data
  protobuf-compiler pybind11-dev pydocstyle pyflakes3 pyqt5-dev
  python-matplotlib-data python3-appdirs python3-argcomplete python3-brotli
  python3-bs4 python3-catkin-pkg-modules python3-contourpy python3-cssselect
  python3-cycler python3-decorator python3-deprecated python3-dev
  python3-docutils python3-empy python3-flake8 python3-flake8-builtins
  python3-flake8-comprehensions python3-flake8-docstrings
  python3-flake8-import-order python3-flake8-quotes python3-fonttools
  python3-fs python3-html5lib python3-importlib-metadata python3-iniconfig
  python3-kiwisolver python3-lark python3-lxml python3-lz4 python3-matplotlib
  python3-mccabe python3-more-itertools python3-mpi4py python3-mpmath
  python3-numpy python3-opencv python3-packaging python3-pil.imagetk
  python3-pluggy python3-protobuf python3-psutil python3-pycodestyle
  python3-pydocstyle python3-pydot python3-pyflakes python3-pykdl
  python3-pyqt5 python3-pyqt5.qtsvg python3-pyqt5.sip python3-pyside2.qtcore
  python3-pyside2.qtgui python3-pyside2.qtsvg python3-pyside2.qtwidgets
  python3-pytest python3-roman python3-rosdistro-modules
  python3-rospkg-modules python3-scipy python3-semver python3-setuptools
  python3-sip python3-sip-dev python3-snowballstemmer python3-soupsieve
  python3-sympy python3-tk python3-ufolib2 python3-unicodedata2 python3-vtk9
  python3-webencodings python3-wrapt python3-zipp python3.12-dev qdoc-qt5
  qhelpgenerator-qt5 qml-module-qt-labs-folderlistmodel
  qml-module-qt-labs-platform qml-module-qt-labs-settings qml-module-qtcharts
  qml-module-qtgraphicaleffects qml-module-qtlocation qml-module-qtpositioning
  qml-module-qtqml qml-module-qtqml-models2 qml-module-qtquick-controls
  qml-module-qtquick-controls2 qml-module-qtquick-dialogs
  qml-module-qtquick-extras qml-module-qtquick-layouts
  qml-module-qtquick-privatewidgets qml-module-qtquick-templates2
  qml-module-qtquick-window2 qml-module-qtquick2 qt5-assistant
  qt5-gtk-platformtheme qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
  qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools qtchooser
  qtdeclarative5-dev qtdeclarative5-dev-tools qtquickcontrols2-5-dev
  qttools5-dev qttools5-dev-tools qttools5-private-dev qttranslations5-l10n
  qtwayland5 rake rapidjson-dev ros-jazzy-action-msgs
  ros-jazzy-action-tutorials-cpp ros-jazzy-action-tutorials-interfaces
  ros-jazzy-action-tutorials-py ros-jazzy-actionlib-msgs
  ros-jazzy-actuator-msgs ros-jazzy-ament-cmake ros-jazzy-ament-cmake-auto
  ros-jazzy-ament-cmake-copyright ros-jazzy-ament-cmake-core
  ros-jazzy-ament-cmake-cppcheck ros-jazzy-ament-cmake-cpplint
  ros-jazzy-ament-cmake-export-definitions
  ros-jazzy-ament-cmake-export-dependencies
  ros-jazzy-ament-cmake-export-include-directories
  ros-jazzy-ament-cmake-export-interfaces
  ros-jazzy-ament-cmake-export-libraries
  ros-jazzy-ament-cmake-export-link-flags ros-jazzy-ament-cmake-export-targets
  ros-jazzy-ament-cmake-flake8 ros-jazzy-ament-cmake-gen-version-h
  ros-jazzy-ament-cmake-gmock ros-jazzy-ament-cmake-gtest
  ros-jazzy-ament-cmake-include-directories ros-jazzy-ament-cmake-libraries
  ros-jazzy-ament-cmake-lint-cmake ros-jazzy-ament-cmake-pep257
  ros-jazzy-ament-cmake-pytest ros-jazzy-ament-cmake-python
  ros-jazzy-ament-cmake-ros ros-jazzy-ament-cmake-target-dependencies
  ros-jazzy-ament-cmake-test ros-jazzy-ament-cmake-uncrustify
  ros-jazzy-ament-cmake-version ros-jazzy-ament-cmake-xmllint
  ros-jazzy-ament-copyright ros-jazzy-ament-cppcheck ros-jazzy-ament-cpplint
  ros-jazzy-ament-flake8 ros-jazzy-ament-index-cpp
  ros-jazzy-ament-index-python ros-jazzy-ament-lint ros-jazzy-ament-lint-auto
  ros-jazzy-ament-lint-cmake ros-jazzy-ament-lint-common
  ros-jazzy-ament-package ros-jazzy-ament-pep257 ros-jazzy-ament-uncrustify
  ros-jazzy-ament-xmllint ros-jazzy-angles ros-jazzy-builtin-interfaces
  ros-jazzy-camera-calibration ros-jazzy-camera-calibration-parsers
  ros-jazzy-camera-info-manager ros-jazzy-class-loader
  ros-jazzy-common-interfaces ros-jazzy-composition
  ros-jazzy-composition-interfaces ros-jazzy-compressed-depth-image-transport
  ros-jazzy-compressed-image-transport ros-jazzy-console-bridge-vendor
  ros-jazzy-cv-bridge ros-jazzy-demo-nodes-cpp ros-jazzy-demo-nodes-cpp-native
  ros-jazzy-demo-nodes-py ros-jazzy-depth-image-proc
  ros-jazzy-depthimage-to-laserscan ros-jazzy-desktop ros-jazzy-desktop-full
  ros-jazzy-diagnostic-msgs ros-jazzy-domain-coordinator
  ros-jazzy-dummy-map-server ros-jazzy-dummy-robot-bringup
  ros-jazzy-dummy-sensors ros-jazzy-eigen3-cmake-module
  ros-jazzy-example-interfaces ros-jazzy-examples-rclcpp-minimal-action-client
  ros-jazzy-examples-rclcpp-minimal-action-server
  ros-jazzy-examples-rclcpp-minimal-client
  ros-jazzy-examples-rclcpp-minimal-composition
  ros-jazzy-examples-rclcpp-minimal-publisher
  ros-jazzy-examples-rclcpp-minimal-service
  ros-jazzy-examples-rclcpp-minimal-subscriber
  ros-jazzy-examples-rclcpp-minimal-timer
  ros-jazzy-examples-rclcpp-multithreaded-executor
  ros-jazzy-examples-rclpy-executors
  ros-jazzy-examples-rclpy-minimal-action-client
  ros-jazzy-examples-rclpy-minimal-action-server
  ros-jazzy-examples-rclpy-minimal-client
  ros-jazzy-examples-rclpy-minimal-publisher
  ros-jazzy-examples-rclpy-minimal-service
  ros-jazzy-examples-rclpy-minimal-subscriber ros-jazzy-fastcdr
  ros-jazzy-fastrtps ros-jazzy-fastrtps-cmake-module ros-jazzy-filters
  ros-jazzy-foonathan-memory-vendor ros-jazzy-geometry-msgs
  ros-jazzy-geometry2 ros-jazzy-gmock-vendor ros-jazzy-gps-msgs
  ros-jazzy-gtest-vendor ros-jazzy-gz-cmake-vendor ros-jazzy-gz-common-vendor
  ros-jazzy-gz-dartsim-vendor ros-jazzy-gz-fuel-tools-vendor
  ros-jazzy-gz-gui-vendor ros-jazzy-gz-math-vendor ros-jazzy-gz-msgs-vendor
  ros-jazzy-gz-ogre-next-vendor ros-jazzy-gz-physics-vendor
  ros-jazzy-gz-plugin-vendor ros-jazzy-gz-rendering-vendor
  ros-jazzy-gz-sensors-vendor ros-jazzy-gz-sim-vendor
  ros-jazzy-gz-tools-vendor ros-jazzy-gz-transport-vendor
  ros-jazzy-gz-utils-vendor ros-jazzy-image-common ros-jazzy-image-geometry
  ros-jazzy-image-pipeline ros-jazzy-image-proc ros-jazzy-image-publisher
  ros-jazzy-image-rotate ros-jazzy-image-tools ros-jazzy-image-transport
  ros-jazzy-image-transport-plugins ros-jazzy-image-view
  ros-jazzy-interactive-markers ros-jazzy-intra-process-demo ros-jazzy-joy
  ros-jazzy-kdl-parser ros-jazzy-keyboard-handler ros-jazzy-laser-filters
  ros-jazzy-laser-geometry ros-jazzy-launch ros-jazzy-launch-ros
  ros-jazzy-launch-testing ros-jazzy-launch-testing-ament-cmake
  ros-jazzy-launch-testing-ros ros-jazzy-launch-xml ros-jazzy-launch-yaml
  ros-jazzy-libcurl-vendor ros-jazzy-liblz4-vendor
  ros-jazzy-libstatistics-collector ros-jazzy-libyaml-vendor
  ros-jazzy-lifecycle ros-jazzy-lifecycle-msgs ros-jazzy-logging-demo
  ros-jazzy-map-msgs ros-jazzy-mcap-vendor ros-jazzy-message-filters
  ros-jazzy-nav-msgs ros-jazzy-orocos-kdl-vendor ros-jazzy-osrf-pycommon
  ros-jazzy-pcl-conversions ros-jazzy-pcl-msgs ros-jazzy-pcl-ros
  ros-jazzy-pendulum-control ros-jazzy-pendulum-msgs ros-jazzy-perception
  ros-jazzy-perception-pcl ros-jazzy-pluginlib ros-jazzy-point-cloud-transport
  ros-jazzy-pybind11-vendor ros-jazzy-python-cmake-module
  ros-jazzy-python-orocos-kdl-vendor ros-jazzy-python-qt-binding
  ros-jazzy-qt-dotgraph ros-jazzy-qt-gui ros-jazzy-qt-gui-cpp
  ros-jazzy-qt-gui-py-common ros-jazzy-quality-of-service-demo-cpp
  ros-jazzy-quality-of-service-demo-py ros-jazzy-rcl ros-jazzy-rcl-action
  ros-jazzy-rcl-interfaces ros-jazzy-rcl-lifecycle
  ros-jazzy-rcl-logging-interface ros-jazzy-rcl-logging-spdlog
  ros-jazzy-rcl-yaml-param-parser ros-jazzy-rclcpp ros-jazzy-rclcpp-action
  ros-jazzy-rclcpp-components ros-jazzy-rclcpp-lifecycle ros-jazzy-rclpy
  ros-jazzy-rcpputils ros-jazzy-rcutils ros-jazzy-resource-retriever
  ros-jazzy-rmw ros-jazzy-rmw-dds-common ros-jazzy-rmw-fastrtps-cpp
  ros-jazzy-rmw-fastrtps-shared-cpp ros-jazzy-rmw-implementation
  ros-jazzy-rmw-implementation-cmake ros-jazzy-robot-state-publisher
  ros-jazzy-ros-base ros-jazzy-ros-core ros-jazzy-ros-environment
  ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-image ros-jazzy-ros-gz-interfaces
  ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-sim-demos ros-jazzy-ros-workspace
  ros-jazzy-ros2action ros-jazzy-ros2bag ros-jazzy-ros2cli
  ros-jazzy-ros2cli-common-extensions ros-jazzy-ros2component
  ros-jazzy-ros2doctor ros-jazzy-ros2interface ros-jazzy-ros2launch
  ros-jazzy-ros2lifecycle ros-jazzy-ros2multicast ros-jazzy-ros2node
  ros-jazzy-ros2param ros-jazzy-ros2pkg ros-jazzy-ros2run
  ros-jazzy-ros2service ros-jazzy-ros2topic ros-jazzy-rosbag2
  ros-jazzy-rosbag2-compression ros-jazzy-rosbag2-compression-zstd
  ros-jazzy-rosbag2-cpp ros-jazzy-rosbag2-interfaces ros-jazzy-rosbag2-py
  ros-jazzy-rosbag2-storage ros-jazzy-rosbag2-storage-default-plugins
  ros-jazzy-rosbag2-storage-mcap ros-jazzy-rosbag2-storage-sqlite3
  ros-jazzy-rosbag2-transport ros-jazzy-rosgraph-msgs ros-jazzy-rosidl-adapter
  ros-jazzy-rosidl-cli ros-jazzy-rosidl-cmake ros-jazzy-rosidl-core-generators
  ros-jazzy-rosidl-core-runtime ros-jazzy-rosidl-default-generators
  ros-jazzy-rosidl-default-runtime ros-jazzy-rosidl-dynamic-typesupport
  ros-jazzy-rosidl-dynamic-typesupport-fastrtps ros-jazzy-rosidl-generator-c
  ros-jazzy-rosidl-generator-cpp ros-jazzy-rosidl-generator-py
  ros-jazzy-rosidl-generator-type-description ros-jazzy-rosidl-parser
  ros-jazzy-rosidl-pycommon ros-jazzy-rosidl-runtime-c
  ros-jazzy-rosidl-runtime-cpp ros-jazzy-rosidl-runtime-py
  ros-jazzy-rosidl-typesupport-c ros-jazzy-rosidl-typesupport-cpp
  ros-jazzy-rosidl-typesupport-fastrtps-c
  ros-jazzy-rosidl-typesupport-fastrtps-cpp
  ros-jazzy-rosidl-typesupport-interface
  ros-jazzy-rosidl-typesupport-introspection-c
  ros-jazzy-rosidl-typesupport-introspection-cpp ros-jazzy-rpyutils
  ros-jazzy-rqt-action ros-jazzy-rqt-bag ros-jazzy-rqt-bag-plugins
  ros-jazzy-rqt-common-plugins ros-jazzy-rqt-console ros-jazzy-rqt-graph
  ros-jazzy-rqt-gui ros-jazzy-rqt-gui-cpp ros-jazzy-rqt-gui-py
  ros-jazzy-rqt-image-view ros-jazzy-rqt-msg ros-jazzy-rqt-plot
  ros-jazzy-rqt-publisher ros-jazzy-rqt-py-common ros-jazzy-rqt-py-console
  ros-jazzy-rqt-reconfigure ros-jazzy-rqt-service-caller ros-jazzy-rqt-shell
  ros-jazzy-rqt-srv ros-jazzy-rqt-topic ros-jazzy-rttest
  ros-jazzy-rviz-assimp-vendor ros-jazzy-rviz-common
  ros-jazzy-rviz-default-plugins ros-jazzy-rviz-ogre-vendor
  ros-jazzy-rviz-rendering ros-jazzy-rviz2 ros-jazzy-sdformat-urdf
  ros-jazzy-sdformat-vendor ros-jazzy-sdl2-vendor ros-jazzy-sensor-msgs
  ros-jazzy-sensor-msgs-py ros-jazzy-service-msgs ros-jazzy-shape-msgs
  ros-jazzy-simulation ros-jazzy-spdlog-vendor ros-jazzy-sqlite3-vendor
  ros-jazzy-sros2 ros-jazzy-sros2-cmake ros-jazzy-statistics-msgs
  ros-jazzy-std-msgs ros-jazzy-std-srvs ros-jazzy-stereo-image-proc
  ros-jazzy-stereo-msgs ros-jazzy-tango-icons-vendor
  ros-jazzy-teleop-twist-joy ros-jazzy-teleop-twist-keyboard ros-jazzy-tf2
  ros-jazzy-tf2-bullet ros-jazzy-tf2-eigen ros-jazzy-tf2-eigen-kdl
  ros-jazzy-tf2-geometry-msgs ros-jazzy-tf2-kdl ros-jazzy-tf2-msgs
  ros-jazzy-tf2-py ros-jazzy-tf2-ros ros-jazzy-tf2-ros-py
  ros-jazzy-tf2-sensor-msgs ros-jazzy-tf2-tools
  ros-jazzy-theora-image-transport ros-jazzy-tinyxml2-vendor ros-jazzy-tlsf
  ros-jazzy-tlsf-cpp ros-jazzy-topic-monitor ros-jazzy-tracetools
  ros-jazzy-tracetools-image-pipeline ros-jazzy-trajectory-msgs
  ros-jazzy-turtlesim ros-jazzy-type-description-interfaces
  ros-jazzy-uncrustify-vendor ros-jazzy-unique-identifier-msgs ros-jazzy-urdf
  ros-jazzy-urdf-parser-plugin ros-jazzy-urdfdom ros-jazzy-urdfdom-headers
  ros-jazzy-vision-msgs ros-jazzy-vision-opencv ros-jazzy-visualization-msgs
  ros-jazzy-xacro ros-jazzy-yaml-cpp-vendor ros-jazzy-zstd-image-transport
  ros-jazzy-zstd-vendor ruby ruby-net-telnet ruby-rubygems ruby-sdbm
  ruby-webrick ruby-xmlrpc ruby3.2 rubygems-integration shiboken2 sip-dev
  spirv-headers spirv-tools tango-icon-theme tcl-dev tcl8.6-dev tk tk-dev
  tk8.6 tk8.6-blt2.5 tk8.6-dev uncrustify unicode-data unixodbc-common
  unixodbc-dev uuid-dev vtk9 x11proto-dev xorg-sgml-doctools xtrans-dev
  zlib1g-dev
0 upgraded, 1201 newly installed, 0 to remove and 1 not upgraded.
Need to get 793 MB of archives.
After this operation, 3,610 MB of additional disk space will be used.
Do you want to continue? [Y/n]

 

rviz도 실행!

$ source /opt/ros/jazzy/setup.bash
$ ros2 run rviz2 rviz2
[INFO] [1747487404.069473159] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1747487404.069563957] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1747487404.111661006] [rviz2]: Stereo is NOT SUPPORTED

[링크 : https://docs.ros.org/en/humble/Tutorials/Intermediate/RViz/RViz-User-Guide/RViz-User-Guide.html#install-or-build-rviz]

 

 

이제 kinect2를 보면 되려나?

'프로그램 사용 > ros' 카테고리의 다른 글

ros...?  (0) 2025.04.08
ros urdf  (0) 2025.04.07
ROS rviz  (0) 2023.12.21
Posted by 구차니

링크와는 다르게 내용상으로는 preview 시절(?) api 같은데

colorframe -> depth

public void MapColorFrameToDepthSpace (
         Array<UInt16>[] depthFrameData,
         out Array<DepthSpacePoint>[] depthSpacePoints
)

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect/dn791296(v=ieb.10)?redirectedfrom=MSDN]

 

depth -> colorframe 가 존재한다.

public void MapDepthFrameToCameraSpace (
         Array<UInt16>[] depthFrameData,
         out Array<CameraSpacePoint>[] cameraSpacePoints
)

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect/dn791303(v=ieb.10)?redirectedfrom=MSDN]

    [링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect/dn758445(v=ieb.10)?redirectedfrom=MSDN]

 

v1.8에도 존재 (링크 사라짐)

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect-1.8/jj663707(v=ieb.10)]

   [링크 : https://stackoverflow.com/questions/17012585/how-do-you-map-kinects-depth-data-to-its-rgb-color]

 

그래서 함수 명으로 검색했는데 좀 이름이 다르다.

HRESULT MapDepthFrameToColorFrame(
         NUI_IMAGE_RESOLUTION eDepthResolution,
         DWORD cDepthPixels,
         NUI_DEPTH_IMAGE_PIXEL *pDepthPixels,
         NUI_IMAGE_TYPE eColorType,
         NUI_IMAGE_RESOLUTION eColorResolution,
         DWORD cColorPoints,
         NUI_COLOR_IMAGE_POINT *pColorPoints
)

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect-1.8/jj883691(v=ieb.10)]

 

HRESULT MapColorFrameToDepthFrame(
         NUI_IMAGE_TYPE eColorType,
         NUI_IMAGE_RESOLUTION eColorResolution,
         NUI_IMAGE_RESOLUTION eDepthResolution,
         DWORD cDepthPixels,
         NUI_DEPTH_IMAGE_PIXEL *pDepthPixels,
         DWORD cDepthPoints,
         NUI_DEPTH_IMAGE_POINT *pDepthPoints
)

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect-1.8/jj883688(v=ieb.10)]

'프로그램 사용 > kinect' 카테고리의 다른 글

kinect v2 잘못된 깊이 맵 맵핑  (0) 2025.05.06
libfreenect2 rgb / depth 매핑 소스코드 분석  (0) 2025.05.05
kinect rgb - depth mapping  (0) 2025.05.01
kinect 깊이 정밀도  (0) 2025.04.15
libfreenect2 on 2760p 성공  (0) 2024.08.18
Posted by 구차니

심심해서(?) 실행해봤는데 어라...

아무래도 depth 카메라와 rgb 카메라의 거리가 떨어져있어서 시차로 인한 오류가 발생을 하는지

특수한 각도에서는 다음과 같이 이상하게 맵핑이 된다.

(노트북 뒤로 몽둥이를 들고 있는데 3d로 합성된 쪽에서는 투명하게 뚫는 것 처럼 보임)

libfreenect2의 한계인가.. 아니면 윈도우 버전도 이럴려나?

'프로그램 사용 > kinect' 카테고리의 다른 글

kinect 1.x, 2.x color <-> depth mapping  (0) 2025.05.07
libfreenect2 rgb / depth 매핑 소스코드 분석  (0) 2025.05.05
kinect rgb - depth mapping  (0) 2025.05.01
kinect 깊이 정밀도  (0) 2025.04.15
libfreenect2 on 2760p 성공  (0) 2024.08.18
Posted by 구차니

libfreenect2 내의 매핑 코드가 이해가 안되서 다른걸 찾아보는데 여전히 이해가 안된다..

코드 상으로는 크게 차이가 없는 것 같지만, color map에 depth map을 합성하는게 더 자연스러워 보이는 것 같다.

The following snippet shows us how to locate the color bytes from the ColorSpacePoint:

// we need a starting point, let's pick 0 for now
int index = 0;
 
ushort depth = _depthData[index];
ColorSpacePoint point = _colorSpacePoints[index];
 
// round down to the nearest pixel
int colorX = (int)Math.Floor(point.X + 0.5);
int colorY = (int)Math.Floor(point.Y + 0.5);
 
// make sure the pixel is part of the image
if ((colorX >= 0 && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight))
{
 
    int colorImageIndex = ((colorWidth * colorY) + colorX) * bytesPerPixel;
 
    byte b = _colorFrameData[colorImageIndex];
    byte g = _colorFrameData[colorImageIndex + 1];
    byte r = _colorFrameData[colorImageIndex + 2];
    byte a = _colorFrameData[colorImageIndex + 3];
 
}

 

그나저나 depth sensor가 더 FOV가 넓어서 왜곡되다보니

depth map에 맵핑했을 경우에는 lens 왜곡 보정을 한 것 같기도 한데

코드 상에는 별 내용이 없는 것 같기도 하고.. 멀 한거지?

// clear the pixels before we color them
Array.Clear(_pixels, 0, _pixels.Length);
 
for (int depthIndex = 0; depthIndex < _depthData.Length; ++depthIndex)
{
    ColorSpacePoint point = _colorSpacePoints[depthIndex];
 
    int colorX = (int)Math.Floor(point.X + 0.5);
    int colorY = (int)Math.Floor(point.Y + 0.5);
    if ((colorX >= 0) && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight))
    {
        int colorImageIndex = ((colorWidth * colorY) + colorX) * bytesPerPixel;
        int depthPixel = depthIndex * bytesPerPixel;
 
        _pixels[depthPixel] = _colorData[colorImageIndex];
        _pixels[depthPixel + 1] = _colorData[colorImageIndex + 1];
        _pixels[depthPixel + 2] = _colorData[colorImageIndex + 2];
        _pixels[depthPixel + 3] = 255;
    }
}

[링크 : https://www.bryancook.net/2014/03/mapping-between-kinect-color-and-depth.html]

    [링크 : https://stackoverflow.com/questions/29479746/kinect-v2-color-depth-mapping-using-c-sharp]

[링크 : https://kr.mathworks.com/matlabcentral/answers/268152-mapping-rgb-and-depth-kinect-v2]

[링크 : https://learn.microsoft.com/en-us/previous-versions/windows/kinect/dn758445(v=ieb.10)?redirectedfrom=MSDN]

    [링크 : https://tommyhsm.tistory.com/124]

 

libfreenct의 Protonect 실행하는 부분에서, rgb와 depth를 어떻게 매핑하는지 궁금해서 찾아보는데 크게 자료가 있진 않다.

/// [registration setup]
  libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
  libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);

/// [loop start]
  while(!protonect_shutdown && (framemax == (size_t)-1 || framecount < framemax))
  {
    if (!listener.waitForNewFrame(frames, 10*1000)) // 10 sconds
    {
      std::cout << "timeout!" << std::endl;
      return -1;
    }
    libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
    libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
    libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
/// [loop start]

    if (enable_rgb && enable_depth)
    {
/// [registration]
      registration->apply(rgb, depth, &undistorted, &registered);
/// [registration]
    }

    framecount++;
    if (!viewer_enabled)
    {
      if (framecount % 100 == 0)
        std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
      listener.release(frames);
      continue;
    }

#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
    if (enable_rgb)
    {
      viewer.addFrame("RGB", rgb);
    }
    if (enable_depth)
    {
      viewer.addFrame("ir", ir);
      viewer.addFrame("depth", depth);
    }
    if (enable_rgb && enable_depth)
    {
      viewer.addFrame("registered", &registered);
    }

    protonect_shutdown = protonect_shutdown || viewer.render();
#endif

/// [loop end]
    listener.release(frames);
    /** libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100)); */
  }
/// [loop end]

[링크 : https://github.com/OpenKinect/libfreenect2/blob/fd64c5d9b214df6f6a55b4419357e51083f15d93/examples/Protonect.cpp#L348]

void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth, int *color_depth_map) const
{
  impl_->apply(rgb, depth, undistorted, registered, enable_filter, bigdepth, color_depth_map);
}

void RegistrationImpl::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth, int *color_depth_map) const
{
  // Check if all frames are valid and have the correct size
  if (!rgb || !depth || !undistorted || !registered ||
      rgb->width != 1920 || rgb->height != 1080 || rgb->bytes_per_pixel != 4 ||
      depth->width != 512 || depth->height != 424 || depth->bytes_per_pixel != 4 ||
      undistorted->width != 512 || undistorted->height != 424 || undistorted->bytes_per_pixel != 4 ||
      registered->width != 512 || registered->height != 424 || registered->bytes_per_pixel != 4)
    return;

  const float *depth_data = (float*)depth->data;
  const unsigned int *rgb_data = (unsigned int*)rgb->data;
  float *undistorted_data = (float*)undistorted->data;
  unsigned int *registered_data = (unsigned int*)registered->data;
  const int *map_dist = distort_map;
  const float *map_x = depth_to_color_map_x;
  const int *map_yi = depth_to_color_map_yi;

  const int size_depth = 512 * 424;
  const int size_color = 1920 * 1080;
  const float color_cx = color.cx + 0.5f; // 0.5f added for later rounding

  // size of filter map with a border of filter_height_half on top and bottom so that no check for borders is needed.
  // since the color image is wide angle no border to the sides is needed.
  const int size_filter_map = size_color + 1920 * filter_height_half * 2;
  // offset to the important data
  const int offset_filter_map = 1920 * filter_height_half;

  // map for storing the min z values used for each color pixel
  float *filter_map = NULL;
  // pointer to the beginning of the important data
  float *p_filter_map = NULL;

  // map for storing the color offset for each depth pixel
  int *depth_to_c_off = color_depth_map ? color_depth_map : new int[size_depth];
  int *map_c_off = depth_to_c_off;

  // initializing the depth_map with values outside of the Kinect2 range
  if(enable_filter){
    filter_map = bigdepth ? (float*)bigdepth->data : new float[size_filter_map];
    p_filter_map = filter_map + offset_filter_map;

    for(float *it = filter_map, *end = filter_map + size_filter_map; it != end; ++it){
      *it = std::numeric_limits<float>::infinity();
    }
  }

  /* Fix depth distortion, and compute pixel to use from 'rgb' based on depth measurement,
   * stored as x/y offset in the rgb data.
   */

  // iterating over all pixels from undistorted depth and registered color image
  // the four maps have the same structure as the images, so their pointers are increased each iteration as well
  for(int i = 0; i < size_depth; ++i, ++undistorted_data, ++map_dist, ++map_x, ++map_yi, ++map_c_off){
    // getting index of distorted depth pixel
    const int index = *map_dist;

    // check if distorted depth pixel is outside of the depth image
    if(index < 0){
      *map_c_off = -1;
      *undistorted_data = 0;
      continue;
    }

    // getting depth value for current pixel
    const float z = depth_data[index];
    *undistorted_data = z;

    // checking for invalid depth value
    if(z <= 0.0f){
      *map_c_off = -1;
      continue;
    }

    // calculating x offset for rgb image based on depth value
    const float rx = (*map_x + (color.shift_m / z)) * color.fx + color_cx;
    const int cx = rx; // same as round for positive numbers (0.5f was already added to color_cx)
    // getting y offset for depth image
    const int cy = *map_yi;
    // combining offsets
    const int c_off = cx + cy * 1920;

    // check if c_off is outside of rgb image
    // checking rx/cx is not needed because the color image is much wider then the depth image
    if(c_off < 0 || c_off >= size_color){
      *map_c_off = -1;
      continue;
    }

    // saving the offset for later
    *map_c_off = c_off;

    if(enable_filter){
      // setting a window around the filter map pixel corresponding to the color pixel with the current z value
      int yi = (cy - filter_height_half) * 1920 + cx - filter_width_half; // index of first pixel to set
      for(int r = -filter_height_half; r <= filter_height_half; ++r, yi += 1920) // index increased by a full row each iteration
      {
        float *it = p_filter_map + yi;
        for(int c = -filter_width_half; c <= filter_width_half; ++c, ++it)
        {
          // only set if the current z is smaller
          if(z < *it)
            *it = z;
        }
      }
    }
  }

  /* Construct 'registered' image. */

  // reseting the pointers to the beginning
  map_c_off = depth_to_c_off;
  undistorted_data = (float*)undistorted->data;

  /* Filter drops duplicate pixels due to aspect of two cameras. */
  if(enable_filter){
    // run through all registered color pixels and set them based on filter results
    for(int i = 0; i < size_depth; ++i, ++map_c_off, ++undistorted_data, ++registered_data){
      const int c_off = *map_c_off;

      // check if offset is out of image
      if(c_off < 0){
        *registered_data = 0;
        continue;
      }
f
      const float min_z = p_filter_map[c_off];
      const float z = *undistorted_data;

      // check for allowed depth noise
      *registered_data = (z - min_z) / z > filter_tolerance ? 0 : *(rgb_data + c_off);
    }

    if (!bigdepth) delete[] filter_map;
  }
  else
  {
    // run through all registered color pixels and set them based on c_off
    for(int i = 0; i < size_depth; ++i, ++map_c_off, ++registered_data){
      const int c_off = *map_c_off;

      // check if offset is out of image
      *registered_data = c_off < 0 ? 0 : *(rgb_data + c_off);
    }
  }
  if (!color_depth_map) delete[] depth_to_c_off;
}

[링크 : https://github.com/OpenKinect/libfreenect2/blob/fd64c5d9b214df6f6a55b4419357e51083f15d93/src/registration.cpp#L123]

'프로그램 사용 > kinect' 카테고리의 다른 글

kinect 1.x, 2.x color <-> depth mapping  (0) 2025.05.07
kinect v2 잘못된 깊이 맵 맵핑  (0) 2025.05.06
kinect rgb - depth mapping  (0) 2025.05.01
kinect 깊이 정밀도  (0) 2025.04.15
libfreenect2 on 2760p 성공  (0) 2024.08.18
Posted by 구차니

보기에는 단순하게 변형하고 잘라서 깊이정보를 주는것 같은데.. 맞나?

[링크 : https://tommyhsm.tistory.com/124]

[링크 : https://www.researchgate.net/publication/340527659_Color_and_depth_mapping_of_Kinect_v2]

[링크 : https://m.blog.naver.com/sense_sciencefiction/221967976514]

'프로그램 사용 > kinect' 카테고리의 다른 글

kinect v2 잘못된 깊이 맵 맵핑  (0) 2025.05.06
libfreenect2 rgb / depth 매핑 소스코드 분석  (0) 2025.05.05
kinect 깊이 정밀도  (0) 2025.04.15
libfreenect2 on 2760p 성공  (0) 2024.08.18
libfreenect2 성공  (0) 2024.07.17
Posted by 구차니

ROS 보다보니 QoS 이야기가 나와서 조사

그런데 정작 찾아봐도 적용방법이 잘 안보인다.

conf 파일에서는 max_qos와 topic patern에 추가하는 정도?

 

topic pattern [[[ out | in | both ] qos-level] local-prefix remote-prefix]

max_qos value
Limit the QoS value allowed for clients connecting to this listener. Defaults to 2, which means any QoS can be used. Set to 0 or 1 to limit to those QoS values. This makes use of an MQTT v5 feature to notify clients of the limitation. MQTT v3.1.1 clients will not be aware of the limitation. Clients publishing to this listener with a too-high QoS will be disconnected.

Not reloaded on reload signal.

[링크 : https://mosquitto.org/man/mosquitto-conf-5.html]

 

QoS는 0,1,2가 존재한다. 그런데 기본값이 멀까..?

Quality of Service
MQTT defines three levels of Quality of Service (QoS). The QoS defines how hard the broker/client will try to ensure that a message is received. Messages may be sent at any QoS level, and clients may attempt to subscribe to topics at any QoS level. This means that the client chooses the maximum QoS it will receive. For example, if a message is published at QoS 2 and a client is subscribed with QoS 0, the message will be delivered to that client with QoS 0. If a second client is also subscribed to the same topic, but with QoS 2, then it will receive the same message but with QoS 2. For a second example, if a client is subscribed with QoS 2 and a message is published on QoS 0, the client will receive it on QoS 0.

Higher levels of QoS are more reliable, but involve higher latency and have higher bandwidth requirements.

0: The broker/client will deliver the message once, with no confirmation.
1: The broker/client will deliver the message at least once, with confirmation required.
2: The broker/client will deliver the message exactly once by using a four step handshake.

[링크 : https://mosquitto.org/man/mqtt-7.html]

 

초당 32000 메시지라.. 느린거 걱정안해도 될 것 같기도 하고?

[링크 : https://hel-p.tistory.com/18]

 

[링크 : https://dalkomit.tistory.com/111]

[링크 : https://www.ibm.com/docs/ko/ibm-mq/9.2.x?topic=concepts-qualities-service-provided-by-mqtt-client]

'프로그램 사용 > mosquitto' 카테고리의 다른 글

mosquitto for windows 계정추가  (0) 2025.02.18
mosquitto service for windows  (0) 2025.02.18
CC2531 zigbee - mqtt  (0) 2025.01.07
ubuntu MQTT(mosquito)  (0) 2024.05.23
mosquitto - MQTT broker  (0) 2019.05.15
Posted by 구차니

와!! 이런 개꿀 명령어가?!?!?

직접 키 복사해서 넣어도 되지만 한번만 접속하면 알아서 복사해주니 개 꿀!

 

ssh-copy-id [-i [identity_file]] [user@]machine

[링크 : https://linux.die.net/man/1/ssh-copy-id]

 

[링크 : https://itzone.tistory.com/694]

Posted by 구차니
프로그램 사용/Blender2025. 4. 16. 14:00

kinect 로 촬영한 골격 정보를 저장해두고 그걸 blender에서 armature에 붙여서 움직여 주는 듯?

[링크 : https://www.youtube.com/watch?v=djzzgSiEa04]

 

다만 아쉽게도(?) kinect sdk를 사용하는거라 윈도우에서만 가능.

그런데 블렌더가.. 키 프레임 애니메이션일텐데 live capture 를 live render 할 수 있나?

Advantages

  • No installation;
  • Works with live capture or pre-recorded data (through Kinect Studio);
  • Supports multiple skeletons;
  • Straightforward use. Does not require setting additional parameters.

Download (latest release)

Windows x64 binary

System Requirements

[링크 : https://marcojrfurtado.github.io/KinectAnimationStudio/]

'프로그램 사용 > Blender' 카테고리의 다른 글

blender 강좌  (0) 2025.01.01
blender render - cycle, eevee  (0) 2024.08.30
blender shader editor (4.2 bloom)  (0) 2024.08.29
blender set origin  (0) 2024.08.23
blender 4.x 구동 실패  (0) 2024.08.20
Posted by 구차니
프로그램 사용/kinect2025. 4. 15. 14:55

 

깊이가 선형적으로 나오는 게 아닌건가? 나중에 확인을 해봐야겠다.

 

50cm 에서는 1.5mm 정밀도고 5m 에서는 5cm라..

Depth resolution: ~ 1.5 mm at 50 cm. About 5 cm at 5 m.

[링크 : https://stackoverflow.com/questions/7696436/precision-of-the-kinect-depth-camera]

[링크 : https://pmc.ncbi.nlm.nih.gov/articles/PMC9002889/]

'프로그램 사용 > kinect' 카테고리의 다른 글

libfreenect2 rgb / depth 매핑 소스코드 분석  (0) 2025.05.05
kinect rgb - depth mapping  (0) 2025.05.01
libfreenect2 on 2760p 성공  (0) 2024.08.18
libfreenect2 성공  (0) 2024.07.17
libfreenect2 실행 성공..  (0) 2024.07.15
Posted by 구차니
프로그램 사용/ros2025. 4. 8. 20:50

ros 1, ros 2 책을 대충 봤는데

MQTT를 이용해서 노드별로 데이터를 주고받는 것에 치중하고

어떻게 실행한다는 많아도 어떻게 파일을 구성해서 작동시킨다는 내용이 얼마 없어서

정작 도움이 안되었다는게 함정..

rviz 쪽을 따로 봐야하나?

 

[링크 : https://product.kyobobook.co.kr/detail/S000028165712] ROS 1

[링크 : https://www.yes24.com/Product/Goods/102949767] ROS 2

'프로그램 사용 > ros' 카테고리의 다른 글

ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros urdf  (0) 2025.04.07
ROS rviz  (0) 2023.12.21
Posted by 구차니