'프로그램 사용/ros'에 해당되는 글 8건

  1. 2025.05.22 ros2 with kinect v2 시도... 3회차
  2. 2025.05.22 ros2 with kinect v2 시도... 2회차
  3. 2025.05.21 ros2 with kinect v2 일단 실패
  4. 2025.05.20 ros2 uses concol
  5. 2025.05.17 ros 2 install on ubuntu 24.04, rviz 2
  6. 2025.04.08 ros...?
  7. 2025.04.07 ros urdf
  8. 2023.12.21 ROS rviz
프로그램 사용/ros2025. 5. 22. 23:20

ros2 with kinect v2 시도... 3회차

다른 사용자의 것과는 다르게 알아서 시리얼을 확인하고 그냥 선택한다.

그때는 물려볼게 없어서 안 죽었나 싶긴한데.

 

요건 wayland 에서 한 거(우분투 기본 값이니)

$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-22-23-16-49-714642-minimonk-900X3N-4099
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [4102]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [4103]
[kinect2_bridge_node-1] [INFO] [1747923410.103073698] [kinect2_bridge_node]: parameter:
[kinect2_bridge_node-1]         base_name: kinect2
[kinect2_bridge_node-1]            sensor: default
[kinect2_bridge_node-1]         fps_limit: 30
[kinect2_bridge_node-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge_node-1]           use_png: false
[kinect2_bridge_node-1]      jpeg_quality: 90
[kinect2_bridge_node-1]         png_level: 1
[kinect2_bridge_node-1]      depth_method: default
[kinect2_bridge_node-1]      depth_device: -1
[kinect2_bridge_node-1]        reg_method: default
[kinect2_bridge_node-1]        reg_device: -1
[kinect2_bridge_node-1]         max_depth: 12
[kinect2_bridge_node-1]         min_depth: 0.1
[kinect2_bridge_node-1]        queue_size: 5
[kinect2_bridge_node-1]  bilateral_filter: true
[kinect2_bridge_node-1] edge_aware_filter: true
[kinect2_bridge_node-1]        publish_tf: true
[kinect2_bridge_node-1]      base_name_tf: kinect2
[kinect2_bridge_node-1]    worker_threads: 4
[kinect2_bridge_node-1] libva info: VA-API version 1.20.0
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_20
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [INFO] [1747923410.268596885] [kinect2_bridge_node]: Kinect2 devices found: 
[kinect2_bridge_node-1] [INFO] [1747923410.268646704] [kinect2_bridge_node]:   0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1747923410.353586296] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1747923410.702466968] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1747923410.702527385] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1747923410.943823711] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1747923410.943872088] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1747923410.943884124] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1747923410.943893248] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1747923410.957002369] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1747923410.957063941] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1747923410.989757825] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1747923435.975438490] [kinect2_bridge_node]: client connected. starting device...
[kinect2_bridge_node-1] X Error of failed request:  BadAccess (attempt to access private resource denied)
[kinect2_bridge_node-1]   Major opcode of failed request:  149 (GLX)
[kinect2_bridge_node-1]   Minor opcode of failed request:  5 (X_GLXMakeCurrent)
[kinect2_bridge_node-1]   Serial number of failed request:  186
[kinect2_bridge_node-1]   Current serial number in output stream:  186
[kinect2_bridge_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[kinect2_bridge_node-1]   what():  failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:66, at ./src/rcl/publisher.c:284
[ERROR] [kinect2_bridge_node-1]: process has died [pid 4102, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_iwksxu1_ --params-file /tmp/launch_params_1kuvaz_1 --params-file /tmp/launch_params_01a053mv --params-file /tmp/launch_params_zdcsdjyg --params-file /tmp/launch_params_yuzabhyr --params-file /tmp/launch_params_19tmdd6j --params-file /tmp/launch_params_hba7y_ha --params-file /tmp/launch_params_cz5d_5a0 --params-file /tmp/launch_params_zdnm6_6f --params-file /tmp/launch_params_0c2pkcpz --params-file /tmp/launch_params_z9p0frw3 --params-file /tmp/launch_params_93jygjmd --params-file /tmp/launch_params_gbcl6pwo --params-file /tmp/launch_params_h2ixukh_'].

 

X 에러가 나서 혹시나 해 로그아웃했다가 wayland에서 x.org로 변경해서 했는데 흐음..

안되는건 여전하네. 모르겠다! ㅠㅠ

[kinect2_bridge_node-1] X Error of failed request:  BadAccess (attempt to access private resource denied)
[kinect2_bridge_node-1]   Major opcode of failed request:  152 (GLX)
[kinect2_bridge_node-1]   Minor opcode of failed request:  5 (X_GLXMakeCurrent)
[kinect2_bridge_node-1]   Serial number of failed request:  189
[kinect2_bridge_node-1]   Current serial number in output stream:  189
[kinect2_bridge_node-1] terminate called after throwing an instance of 'std::system_error'
[kinect2_bridge_node-1]   what():  Invalid argument
[ERROR] [kinect2_bridge_node-1]: process has died [pid 7073, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_y5bvhzyw --params-file /tmp/launch_params_gxirdqdy --params-file /tmp/launch_params_hp4gbet8 --params-file /tmp/launch_params_08p1acor --params-file /tmp/launch_params_lmxr_tz6 --params-file /tmp/launch_params_t_ro1l1e --params-file /tmp/launch_params_lijjyb5p --params-file /tmp/launch_params_kyd4zb0u --params-file /tmp/launch_params_4apk49ym --params-file /tmp/launch_params_01ocg_zs --params-file /tmp/launch_params_bz6p08h0 --params-file /tmp/launch_params_htcp1tsf --params-file /tmp/launch_params_7qjvyjg0 --params-file /tmp/launch_params_nqmk926s'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1747923700.776770005] [rclcpp]: signal_handler(signum=2)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 7074]

 

흐음.. --params-file이 많은걸 제외하면 별 특별한건 없어 보이는데..

[pid 7073, 
exit code -6, 
cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node 
--ros-args 
-r __node:=kinect2_bridge_node 
--params-file /tmp/launch_params_y5bvhzyw 
--params-file /tmp/launch_params_gxirdqdy 
--params-file /tmp/launch_params_hp4gbet8 
--params-file /tmp/launch_params_08p1acor 
--params-file /tmp/launch_params_lmxr_tz6 
--params-file /tmp/launch_params_t_ro1l1e 
--params-file /tmp/launch_params_lijjyb5p 
--params-file /tmp/launch_params_kyd4zb0u 
--params-file /tmp/launch_params_4apk49ym 
--params-file /tmp/launch_params_01ocg_zs 
--params-file /tmp/launch_params_bz6p08h0 
--params-file /tmp/launch_params_htcp1tsf 
--params-file /tmp/launch_params_7qjvyjg0 
--params-file /tmp/launch_params_nqmk926s'].

 

혹시나 해서 VAAPI를 쓴 libfreenect2의 문제인가 해서 빌드도 해서 바꾸어 봤는데 차이가 없다

머가 문제일까...

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 시도... 2회차  (0) 2025.05.22
ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
Posted by 구차니
프로그램 사용/ros2025. 5. 22. 00:13

ros2 with kinect v2 시도... 2회차

다시 제대로 된(?) 녀석을 받고

[링크 : https://github.com/krepa098/kinect2_ros2]

어떻게 설치해서 빌드하는데

$ colcon build

 

kinect2_calibration에서 에러가 발생한다.

Starting >>> kinect2_calibration
--- stderr: kinect2_calibration                              
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:37:10: fatal error: cv_bridge/cv_bridge.h: No such file or directory
   37 | #include "cv_bridge/cv_bridge.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

 

이리저리 찾아보다가 안되서 cv_bridge로 검색하니 include에 있는데.. 어? h가 아니라 hpp?

/opt/ros/jazzy/include/cv_bridge/cv_bridge$ ls -al
total 52
drwxr-xr-x 2 root root  4096 May 17 22:02 .
drwxr-xr-x 3 root root  4096 May 17 22:02 ..
-rw-r--r-- 1 root root  1079 Apr 30 09:03 cv_bridge_export.h
-rw-r--r-- 1 root root 12336 Jun 25  2024 cv_bridge.hpp
-rw-r--r-- 1 root root  9541 Jun 25  2024 cv_mat_sensor_msgs_image_type_adapter.hpp
-rw-r--r-- 1 root root  4160 Jun 25  2024 rgb_colors.hpp
-rw-r--r-- 1 root root  1814 Jun 25  2024 visibility_control.h

 

그래서 cv_bridge.h를 cv_bridge.hpp 로 바꾸어주고

$ git diff
diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp
index 8e90a54..f4ce85c 100644
--- a/kinect2_calibration/src/kinect2_calibration.cpp
+++ b/kinect2_calibration/src/kinect2_calibration.cpp
@@ -34,7 +34,7 @@
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 
 #include "image_transport/image_transport.hpp"
 #include "image_transport/subscriber_filter.hpp"

 

빌드하니 성공!

$ colcon build
Starting >>> kinect2_registration
Finished <<< kinect2_registration [0.17s]                
Starting >>> kinect2_bridge
Finished <<< kinect2_bridge [0.15s]                  
Starting >>> kinect2_calibration
--- stderr: kinect2_calibration                                
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:195: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas]
  195 | #pragma omp parallel for
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:658: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas]
  658 | #pragma omp parallel for
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:663: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas]
  663 | #pragma omp critical
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:669: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas]
  669 | #pragma omp critical
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1162: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas]
 1162 | #pragma omp parallel for
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1167: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas]
 1167 | #pragma omp critical
      | 
/home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1173: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas]
 1173 | #pragma omp critical
      | 
---
Finished <<< kinect2_calibration [12.1s]

Summary: 3 packages finished [12.5s]
  1 package had stderr output: kinect2_calibration

[링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h_source.html]

    [링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h.html]

 

그래서 뭔가를 실행하려고 하니 에러가 나서

~/src/kinect2_ros2/install$ source setup.bash
~/src/kinect2_ros2/install$ ros2 launch kinect2_bridge rtabmap.launch.py

 

패키지 잔뜩 깔아주니

$ sudo apt-get install ros-jazzy-rtabmap-odom
$ sudo apt-get install ros-jazzy-rtabmap-slam
$ sudo apt-get install ros-jazzy-rtabmap-viz

 

실행에 성공. 키넥트는 나중에 붙여서 slam 되나 봐야겠다.

---

 

이것저것 해보는데 되는게 없다.

ament_target_dependencies(${PROJECT_NAME} cv_bridge)

[링크 : https://www.reddit.com/r/ROS/comments/1f8bupf/cv_bridgeh_not_found_ros2/]

 

Something like this usually works for me:

ament_target_dependencies(synchronize_wo cv_bridge)
When using ament_target_dependencies you should not have to explicitly list the include and library files. Also not when you use target_link_libraries(synchronize_wo cv_bridge::cv_bridge)

[링크 : https://robotics.stackexchange.com/questions/112861/cv-bridge-h-not-found-ros2]

 

sudo apt-get install ros-dashing-cv-bridge

[링크 : https://answers.ros.org/question/308043/]

 

sudo apt-get install ros-kinetic-cv-bridge

[링크 : https://docs.ros.org/en/rolling/Releases/Release-Rolling-Ridley.html]

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 시도... 3회차  (0) 2025.05.22
ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
Posted by 구차니
프로그램 사용/ros2025. 5. 21. 00:07

ros2 with kinect v2 일단 실패

다시 보니 이상한(?) 저장소 걸 받아놓고 고생중.. -_-

 

[링크 : https://github.com/YuLiHN/kinect2_ros2] << 요걸로 고생중

[링크 : https://github.com/krepa098/kinect2_ros2]

    [링크 : https://github.com/paul-shuvo/iai_kinect2_opencv4/tree/master]

    [링크 : https://github.com/code-iai/iai_kinect2]

 

---

 

시도중..

[링크 : https://github.com/krepa098/kinect2_ros2]

 

step 1. colcon을 설치한다.

$ sudo apt-get install colcon

 

step 2. 프로젝트를 다운로드 한다.

$ git clone https://github.com/krepa098/kinect2_ros2.git
$ cd kinect2_ros2

 

step3. 빌드한다.

$ colcon build

 

step 4. 런쳐 스크립트 명을 찾고

/opt/ros/jazzy$ find . -name *launch.py | grep kinect
./share/kinect2_bridge/launch/kinect2_bridge.launch.py
./src/kinect2_bridge/launch/kinect2_bridge.launch.py

 

step 5. 실행한다

$ ros2 launch kinect2_bridge kinect2_bridge.launch.py 
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-46-49-643834-minimonk-900X3N-7825
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge-1]: process started with pid [7842]
[INFO] [component_container-2]: process started with pid [7843]
[kinect2_bridge-1] [INFO] [1747752410.192080072] [kinect2_bridge]: parameter:
[kinect2_bridge-1]         base_name: kinect2
[kinect2_bridge-1]            sensor: 004436460547
[kinect2_bridge-1]         fps_limit: -1
[kinect2_bridge-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge-1]           use_png: false
[kinect2_bridge-1]      jpeg_quality: 90
[kinect2_bridge-1]         png_level: 1
[kinect2_bridge-1]      depth_method: default
[kinect2_bridge-1]      depth_device: -1
[kinect2_bridge-1]        reg_method: default
[kinect2_bridge-1]        reg_device: -1
[kinect2_bridge-1]         max_depth: 12
[kinect2_bridge-1]         min_depth: 0.1
[kinect2_bridge-1]        queue_size: 5
[kinect2_bridge-1]  bilateral_filter: true
[kinect2_bridge-1] edge_aware_filter: true
[kinect2_bridge-1]        publish_tf: true
[kinect2_bridge-1]      base_name_tf: kinect2
[kinect2_bridge-1]    worker_threads: 4
[component_container-2] [INFO] [1747752410.226624281] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so
[component_container-2] [INFO] [1747752410.334243907] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1747752410.334300468] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-2] [INFO] [1747752410.334307756] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-2] [INFO] [1747752410.334312374] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-2] [INFO] [1747752410.334318127] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-2] [INFO] [1747752410.334323834] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-2] [INFO] [1747752410.334329282] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-2] [INFO] [1747752410.334334605] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-2] [INFO] [1747752410.334340889] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container'
[kinect2_bridge-1] libva info: VA-API version 1.20.0
[kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20
[kinect2_bridge-1] libva info: va_openDriver() returns 0
[kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 ()
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 6 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found 0 devices
[kinect2_bridge-1] [ERROR] [1747752410.372478119] [kinect2_bridge]: no Kinect2 devices found!
[INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7842]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-2] [INFO] [1747752410.727331969] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container-2]: process has finished cleanly [pid 7843]
^[[Aminimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch
file 'kinect2_bridge.launch' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge'

 

$ ros2 launch kinect2_bridge kinect2_bridge.launch.py -
malformed launch argument '-', expected format ':='
minimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch.py
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-47-06-104462-minimonk-900X3N-7896
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge-1]: process started with pid [7913]
[INFO] [component_container-2]: process started with pid [7914]
[kinect2_bridge-1] [INFO] [1747752426.554975848] [kinect2_bridge]: parameter:
[kinect2_bridge-1]         base_name: kinect2
[kinect2_bridge-1]            sensor: 004436460547
[kinect2_bridge-1]         fps_limit: -1
[kinect2_bridge-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge-1]           use_png: false
[kinect2_bridge-1]      jpeg_quality: 90
[kinect2_bridge-1]         png_level: 1
[kinect2_bridge-1]      depth_method: default
[kinect2_bridge-1]      depth_device: -1
[kinect2_bridge-1]        reg_method: default
[kinect2_bridge-1]        reg_device: -1
[kinect2_bridge-1]         max_depth: 12
[kinect2_bridge-1]         min_depth: 0.1
[kinect2_bridge-1]        queue_size: 5
[kinect2_bridge-1]  bilateral_filter: true
[kinect2_bridge-1] edge_aware_filter: true
[kinect2_bridge-1]        publish_tf: true
[kinect2_bridge-1]      base_name_tf: kinect2
[kinect2_bridge-1]    worker_threads: 4
[component_container-2] [INFO] [1747752426.621145906] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so
[component_container-2] [INFO] [1747752426.706050975] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706103036] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706109780] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706114307] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706119654] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706124832] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706130184] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706135440] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752426.706140757] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[kinect2_bridge-1] libva info: VA-API version 1.20.0
[kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container'
[kinect2_bridge-1] libva info: va_openDriver() returns 0
[kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 ()
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 6 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found 0 devices
[kinect2_bridge-1] [ERROR] [1747752426.730865489] [kinect2_bridge]: no Kinect2 devices found!
[INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7913]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-2] [INFO] [1747752437.540751727] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container-2]: process has finished cleanly [pid 7914]
minimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch.py
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-47-37-594228-minimonk-900X3N-7960
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge-1]: process started with pid [7982]
[INFO] [component_container-2]: process started with pid [7983]
[component_container-2] [INFO] [1747752458.147532554] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so
[component_container-2] [INFO] [1747752458.226638107] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226688745] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226695944] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226700120] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226705339] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226710495] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226715741] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226720836] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752458.226726217] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container'
[kinect2_bridge-1] [INFO] [1747752461.903116963] [kinect2_bridge]: parameter:
[kinect2_bridge-1]         base_name: kinect2
[kinect2_bridge-1]            sensor: 004436460547
[kinect2_bridge-1]         fps_limit: -1
[kinect2_bridge-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge-1]           use_png: false
[kinect2_bridge-1]      jpeg_quality: 90
[kinect2_bridge-1]         png_level: 1
[kinect2_bridge-1]      depth_method: default
[kinect2_bridge-1]      depth_device: -1
[kinect2_bridge-1]        reg_method: default
[kinect2_bridge-1]        reg_device: -1
[kinect2_bridge-1]         max_depth: 12
[kinect2_bridge-1]         min_depth: 0.1
[kinect2_bridge-1]        queue_size: 5
[kinect2_bridge-1]  bilateral_filter: true
[kinect2_bridge-1] edge_aware_filter: true
[kinect2_bridge-1]        publish_tf: true
[kinect2_bridge-1]      base_name_tf: kinect2
[kinect2_bridge-1]    worker_threads: 4
[kinect2_bridge-1] libva info: VA-API version 1.20.0
[kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20
[kinect2_bridge-1] libva info: va_openDriver() returns 0
[kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 ()
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042
[kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices
[kinect2_bridge-1] [INFO] [1747752462.073844064] [kinect2_bridge]: Kinect2 devices found: 
[kinect2_bridge-1] [INFO] [1747752462.073923803] [kinect2_bridge]:   0: 501441643042
[kinect2_bridge-1] [ERROR] [1747752462.073942832] [kinect2_bridge]: Device with serial '004436460547' not found!
[INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7982]

 

step 6. 파일을 수정한다. (둘다)

$ sudo vi ./src/kinect2_bridge/launch/kinect2_bridge.launch.py
$ sudo vi ./share/kinect2_bridge/launch/kinect2_bridge.launch.py

import os

from ament_index_python import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node, LoadComposableNodes, ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


parameters=[    {'base_name': 'kinect2',
                'sensor': '004436460547',
                'fps_limit': -1.0,
                'use_png': False,
                'jpeg_quality': 90,
                'png_level': 1,
                'depth_method': 'default',
                'depth_device': -1,
                'reg_method': 'default',
                'reg_device': -1,
                'max_depth': 12.0,
                'min_depth': 0.1,
                'queue_size': 5,
                'bilateral_filter': True,
                'edge_aware_filter': True,
                'worker_threads': 4,
                'publish_tf': True}]

 

Step 7. 다시 실행한다. 

src 쪽만 수정하였을 경우

$ ros2 launch kinect2_bridge kinect2_bridge.launch.py
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-56-08-038469-minimonk-900X3N-8222
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge-1]: process started with pid [8239]
[INFO] [component_container-2]: process started with pid [8240]
[kinect2_bridge-1] [INFO] [1747752968.497895081] [kinect2_bridge]: parameter:
[kinect2_bridge-1]         base_name: kinect2
[kinect2_bridge-1]            sensor: 004436460547
[kinect2_bridge-1]         fps_limit: -1
[kinect2_bridge-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge-1]           use_png: false
[kinect2_bridge-1]      jpeg_quality: 90
[kinect2_bridge-1]         png_level: 1
[kinect2_bridge-1]      depth_method: default
[kinect2_bridge-1]      depth_device: -1
[kinect2_bridge-1]        reg_method: default
[kinect2_bridge-1]        reg_device: -1
[kinect2_bridge-1]         max_depth: 12
[kinect2_bridge-1]         min_depth: 0.1
[kinect2_bridge-1]        queue_size: 5
[kinect2_bridge-1]  bilateral_filter: true
[kinect2_bridge-1] edge_aware_filter: true
[kinect2_bridge-1]        publish_tf: true
[kinect2_bridge-1]      base_name_tf: kinect2
[kinect2_bridge-1]    worker_threads: 4
[component_container-2] [INFO] [1747752968.582669845] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so
[kinect2_bridge-1] libva info: VA-API version 1.20.0
[kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20
[kinect2_bridge-1] libva info: va_openDriver() returns 0
[kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 ()
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042
[kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices
[kinect2_bridge-1] [INFO] [1747752968.679076989] [kinect2_bridge]: Kinect2 devices found: 
[kinect2_bridge-1] [INFO] [1747752968.679151068] [kinect2_bridge]:   0: 501441643042
[kinect2_bridge-1] [ERROR] [1747752968.679166289] [kinect2_bridge]: Device with serial '004436460547' not found!
[component_container-2] [INFO] [1747752968.707510234] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1747752968.707583082] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-2] [INFO] [1747752968.707598835] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-2] [INFO] [1747752968.707605559] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-2] [INFO] [1747752968.707613423] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-2] [INFO] [1747752968.707620795] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-2] [INFO] [1747752968.707628710] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-2] [INFO] [1747752968.707636427] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-2] [INFO] [1747752968.707644371] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container'
[INFO] [kinect2_bridge-1]: process has finished cleanly [pid 8239]

 

둘다 수정하였을 경우

$ ros2 launch kinect2_bridge kinect2_bridge.launch.py
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-56-39-190964-minimonk-900X3N-8308
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge-1]: process started with pid [8325]
[INFO] [component_container-2]: process started with pid [8326]
[kinect2_bridge-1] [INFO] [1747752999.650865409] [kinect2_bridge]: parameter:
[kinect2_bridge-1]         base_name: kinect2
[kinect2_bridge-1]            sensor: 501441643042
[kinect2_bridge-1]         fps_limit: -1
[kinect2_bridge-1]        calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge-1]           use_png: false
[kinect2_bridge-1]      jpeg_quality: 90
[kinect2_bridge-1]         png_level: 1
[kinect2_bridge-1]      depth_method: default
[kinect2_bridge-1]      depth_device: -1
[kinect2_bridge-1]        reg_method: default
[kinect2_bridge-1]        reg_device: -1
[kinect2_bridge-1]         max_depth: 12
[kinect2_bridge-1]         min_depth: 0.1
[kinect2_bridge-1]        queue_size: 5
[kinect2_bridge-1]  bilateral_filter: true
[kinect2_bridge-1] edge_aware_filter: true
[kinect2_bridge-1]        publish_tf: true
[kinect2_bridge-1]      base_name_tf: kinect2
[kinect2_bridge-1]    worker_threads: 4
[component_container-2] [INFO] [1747752999.717016720] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so
[kinect2_bridge-1] libva info: VA-API version 1.20.0
[kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20
[kinect2_bridge-1] libva info: va_openDriver() returns 0
[kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 ()
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042
[kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices
[kinect2_bridge-1] [INFO] [1747752999.802972778] [kinect2_bridge]: Kinect2 devices found: 
[kinect2_bridge-1] [INFO] [1747752999.803048663] [kinect2_bridge]:   0: 501441643042 (selected)
[component_container-2] [INFO] [1747752999.817716799] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817762782] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817772723] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817781495] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817789789] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817798000] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817806268] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817814680] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-2] [INFO] [1747752999.817823560] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container'
[kinect2_bridge-1] [Info] [Freenect2Impl] re-enumerating devices after reset
[kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices...
[kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected
[kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @2:10 with serial 501441643042
[kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] opening...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] opened
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] starting...
[kinect2_bridge-1] [INFO] [1747753001.475900709] [kinect2_bridge]: starting kinect2
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] submitting rgb transfers...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] submitting depth transfers...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] started
[kinect2_bridge-1] [INFO] [1747753002.096109296] [kinect2_bridge]: device serial: 501441643042
[kinect2_bridge-1] [INFO] [1747753002.096174412] [kinect2_bridge]: device firmware: 4.0.3911.0
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] stopping...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] canceling rgb transfers...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] canceling depth transfers...
[kinect2_bridge-1] [Info] [Freenect2DeviceImpl] stopped
[kinect2_bridge-1] [INFO] [1747753002.311498664] [kinect2_bridge]: default ir camera parameters: 
[kinect2_bridge-1] [INFO] [1747753002.311621920] [kinect2_bridge]: fx: 365.719, fy: 365.719, cx: 259.505, cy: 210.078
[kinect2_bridge-1] [INFO] [1747753002.311683407] [kinect2_bridge]: k1: 0.0949663, k2: -0.274613, p1: 0, p2: 0, k3: 0.093757
[kinect2_bridge-1] [INFO] [1747753002.311724585] [kinect2_bridge]: default color camera parameters: 
[kinect2_bridge-1] [INFO] [1747753002.311769717] [kinect2_bridge]: fx: 1081.37, fy: 1081.37, cx: 959.5, cy: 539.5
[kinect2_bridge-1] [WARN] [1747753002.314247853] [kinect2_bridge]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge-1] [WARN] [1747753002.314319452] [kinect2_bridge]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge-1] [WARN] [1747753002.314351830] [kinect2_bridge]: using defaults for rotation and translation.
[kinect2_bridge-1] [WARN] [1747753002.314370819] [kinect2_bridge]: using defaults for depth shift.
[kinect2_bridge-1] Using CPU registration method!
[kinect2_bridge-1] Using CPU registration method!
[kinect2_bridge-1] [INFO] [1747753002.374909053] [kinect2_bridge]: waiting for clients to connect

 

step 8. 먼가 실행해본다. (실패)

$ ros2 launch kinect2_bridge rtabmap.launch.py
file 'rtabmap.launch.py' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge'

 

step 9. 깔아본다.

$ apt-cache search rtabmap
ros-jazzy-rtabmap - RTAB-Map's standalone library.
ros-jazzy-rtabmap-conversions - RTAB-Map's conversions package.
ros-jazzy-rtabmap-conversions-dbgsym - debug symbols for ros-jazzy-rtabmap-conversions
ros-jazzy-rtabmap-dbgsym - debug symbols for ros-jazzy-rtabmap
ros-jazzy-rtabmap-demos - RTAB-Map's demo launch files.
ros-jazzy-rtabmap-examples - RTAB-Map's example launch files.
ros-jazzy-rtabmap-launch - RTAB-Map's main launch files.
ros-jazzy-rtabmap-msgs - RTAB-Map's msgs package.
ros-jazzy-rtabmap-msgs-dbgsym - debug symbols for ros-jazzy-rtabmap-msgs
ros-jazzy-rtabmap-odom - RTAB-Map's odometry package.
ros-jazzy-rtabmap-odom-dbgsym - debug symbols for ros-jazzy-rtabmap-odom
ros-jazzy-rtabmap-python - RTAB-Map's python package.
ros-jazzy-rtabmap-ros - RTAB-Map Stack
ros-jazzy-rtabmap-rviz-plugins - RTAB-Map's rviz plugins.
ros-jazzy-rtabmap-rviz-plugins-dbgsym - debug symbols for ros-jazzy-rtabmap-rviz-plugins
ros-jazzy-rtabmap-slam - RTAB-Map's SLAM package.
ros-jazzy-rtabmap-slam-dbgsym - debug symbols for ros-jazzy-rtabmap-slam
ros-jazzy-rtabmap-sync - RTAB-Map's synchronization package.
ros-jazzy-rtabmap-sync-dbgsym - debug symbols for ros-jazzy-rtabmap-sync
ros-jazzy-rtabmap-util - RTAB-Map's various useful nodes and nodelets.
ros-jazzy-rtabmap-util-dbgsym - debug symbols for ros-jazzy-rtabmap-util
ros-jazzy-rtabmap-viz - RTAB-Map's visualization package.
ros-jazzy-rtabmap-viz-dbgsym - debug symbols for ros-jazzy-rtabmap-viz

$ sudo apt-get install ros-jazzy-rtabmap
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  libamd3 libbtf2 libcamd3 libccolamd3 libcholmod5 libcolamd3 libcxsparse4
  libgraphblas-dev libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2
  libspqr4 libsuitesparse-dev libsuitesparse-mongoose3 libsuitesparseconfig7
  libumfpack6 ros-jazzy-gtsam ros-jazzy-libg2o ros-jazzy-libnabo
  ros-jazzy-libpointmatcher
The following NEW packages will be installed:
  libamd3 libbtf2 libcamd3 libccolamd3 libcholmod5 libcolamd3 libcxsparse4
  libgraphblas-dev libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2
  libspqr4 libsuitesparse-dev libsuitesparse-mongoose3 libsuitesparseconfig7
  libumfpack6 ros-jazzy-gtsam ros-jazzy-libg2o ros-jazzy-libnabo
  ros-jazzy-libpointmatcher ros-jazzy-rtabmap
0 upgraded, 24 newly installed, 0 to remove and 1 not upgraded.
Need to get 40.6 MB of archives.
After this operation, 258 MB of additional disk space will be used.
Do you want to continue? [Y/n] 

[링크 : https://index.ros.org/p/rtabmap_launch/]

 

step 10. 안된다!! 젠장!

$ ros2 launch kinect2_bridge rtabmap.launch.py
file 'rtabmap.launch.py' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge'

 

---

실행시 필요한 launch.py 파일명 참조

[링크 : https://github.com/paul-shuvo/iai_kinect2_opencv4/blob/master/kinect2_bridge/launch/kinect2_bridge.launch]

[링크 : https://github.com/paul-shuvo/iai_kinect2_opencv4]

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 시도... 3회차  (0) 2025.05.22
ros2 with kinect v2 시도... 2회차  (0) 2025.05.22
ros2 uses concol  (0) 2025.05.20
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
Posted by 구차니
프로그램 사용/ros2025. 5. 20. 23:27

ros2 uses concol

문서를 찾아보는데 catkin_make 라는걸 쓴다고 해서 해보는데 영 안되서

혹시나 해서 찾아보니.. catkin_make는 ros용

ros2는 concol 이라는걸 쓴다고 한다.

 

[링크 : https://changun516.tistory.com/203]

[링크 : https://github.com/ros/catkin/issues/1178]

 

+

그러니까 얘네는 ros 1이란거

[링크 : https://hoonney.tistory.com/20]

[링크 : https://wiki.ros.org/catkin/Tutorials/create_a_workspace]

 

+

어우. 되면 좋겠네

$ colcon
Command 'colcon' not found, but can be installed with:
sudo apt install colcon

$ sudo apt install colcon
[sudo] password for minimonk: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  libjs-jquery-hotkeys libjs-jquery-isonscreen libjs-jquery-metadata
  libjs-jquery-tablesorter libjs-jquery-throttle-debounce
  python3-colcon-argcomplete python3-colcon-bash python3-colcon-cd
  python3-colcon-cmake python3-colcon-core python3-colcon-defaults
  python3-colcon-devtools python3-colcon-library-path python3-colcon-metadata
  python3-colcon-notification python3-colcon-output
  python3-colcon-package-information python3-colcon-package-selection
  python3-colcon-parallel-executor python3-colcon-pkg-config
  python3-colcon-python-setup-py python3-colcon-recursive-crawl
  python3-colcon-ros python3-colcon-test-result python3-colcon-zsh
  python3-coverage python3-distlib python3-notify2 python3-pytest-cov
Suggested packages:
  python3-pytest-repeat python3-pytest-rerunfailures python-coverage-doc
The following NEW packages will be installed:
  colcon libjs-jquery-hotkeys libjs-jquery-isonscreen libjs-jquery-metadata
  libjs-jquery-tablesorter libjs-jquery-throttle-debounce
  python3-colcon-argcomplete python3-colcon-bash python3-colcon-cd
  python3-colcon-cmake python3-colcon-core python3-colcon-defaults
  python3-colcon-devtools python3-colcon-library-path python3-colcon-metadata
  python3-colcon-notification python3-colcon-output
  python3-colcon-package-information python3-colcon-package-selection
  python3-colcon-parallel-executor python3-colcon-pkg-config
  python3-colcon-python-setup-py python3-colcon-recursive-crawl
  python3-colcon-ros python3-colcon-test-result python3-colcon-zsh
  python3-coverage python3-distlib python3-notify2 python3-pytest-cov
0 upgraded, 30 newly installed, 0 to remove and 1 not upgraded.
Need to get 932 kB of archives.
After this operation, 4,939 kB of additional disk space will be used.
Do you want to continue? [Y/n] 

 

 

$ colcon build

[링크 : https://velog.io/@hwang-chaewon/ROS2035]

[링크 : https://velog.io/@i_robo_u/개발자와-함께하는-ROS2-Humble에서-colcon으로-ROS2-workspace작업공간-구성하기]

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 시도... 2회차  (0) 2025.05.22
ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
ros urdf  (0) 2025.04.07
Posted by 구차니
프로그램 사용/ros2025. 5. 17. 21:56

ros 2 install on ubuntu 24.04, rviz

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?

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
ros...?  (0) 2025.04.08
ros urdf  (0) 2025.04.07
ROS rviz  (0) 2023.12.21
Posted by 구차니
프로그램 사용/ros2025. 4. 8. 20:50

ros...?

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

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
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
프로그램 사용/ros2025. 4. 7. 19:48

ros urdf

ROS를 쓰는건 별거(?) 아니고

내가 쓰려는 로봇에 맞춰서 이 파일을 만들어 ros 에서 쓰게 하는게 핵심일 듯?

 

URDF(Unified Robot Description Format)

[링크 : https://with-rl.tistory.com/m/entry/URDF를-이용한-간단한-로봇-만들기-1]

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
ROS rviz  (0) 2023.12.21
Posted by 구차니
프로그램 사용/ros2023. 12. 21. 15:34

ROS rviz

로봇 암 시뮬레이션해볼 수 있다고 해서 찾아보는 중

 

[링크 : https://pinkwink.kr/903]

[링크 : https://docs.elephantrobotics.com/docs/mycobot-pi-en/2-serialproduct/2.1-280/2.1.5.4-DevelopmentEnvironmentAndConstruction.html]

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

ros2 with kinect v2 일단 실패  (0) 2025.05.21
ros2 uses concol  (0) 2025.05.20
ros 2 install on ubuntu 24.04, rviz  (2) 2025.05.17
ros...?  (0) 2025.04.08
ros urdf  (0) 2025.04.07
Posted by 구차니

티스토리툴바