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RMF安装

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1. open_RMF 配置，操作

1.1. RMF安装

系统要求：ubuntu22.04 ### 1.1.1. 准备工作

1.1.2. 非ROS依赖安装

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sudo apt update && sudo apt install \
  python3-pip \
  curl \
  python3-colcon-mixin \
  ros-dev-tools \
  -y

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 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'  

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

# These pip packages are only used by rmf_demos which are not released as binaries
python3 -m pip install flask-socketio fastapi uvicorn

1.1.3. ROS依赖安装

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sudo rosdep init # run if first time using rosdep.
rosdep update

刷新环境 

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colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

1、创建工作空间，拉取源码 

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mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
vcs import src < rmf.repos

指令：wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
问题：Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|::|:443… failed: Connection refused.

指令：vcs import src < rmf.repos
问题：Command ‘vcs’ not found

解决方法：sudo apt-get install python3-vcstool 问题：Failed to connect to github.com port 443 after 21047 ms 网络问题
解决方法: 

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git config --global https.proxy  
git config --global --unset https.proxy

2、 安装依赖 

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cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro humble -y

3、安装 clang 作为编译器和 lld 作为链接器

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sudo apt update
sudo apt install clang clang-tools lldb lld libstdc++-12-dev

4、编译安装 

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cd ~/rmf_ws
source /opt/ros/humble/setup.bash # replace humble with ROS 2 distro of choice.
 
export CXX=clang++
export CC=clang
colcon build --mixin release lld

1.2. RMF WEB 安装

1.2.1. 准备工作

安装nodejs 

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sudo apt update && sudo apt install curl
curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.37.2/install.sh | bash
#重启终端后继续执行
nvm install 16

安装pnpm 

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curl -fsSL https://get.pnpm.io/install.sh | bash -
#重启终端后继续执行
pnpm env use --global 16
安装pipenv 
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sudo apt install python3-venv
pip3 install pipenv
问题：pipenv not found: https://blog.csdn.net/FloraCHY/article/details/119790395

1.2.2. 安装依赖

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git clone https://github.com/open-rmf/rmf-web.git
cd  ~/rmf-web
pnpm install

查看pnpm源 pnpm config get registry
切换淘宝源 pnpm config set registry http://registry.npm.taobao.org
还原 pnpm config set registry https://registry.npmjs.org

1.3. 操作流程：

demo试运行：

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cd ~/rmf-web/packages/dashboard
pnpm start

仿真

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source ~/rmf_ws/install/setup.bash  
ros2 launch rmf_demos_gz office.launch.xml server_uri:="http://localhost:8000/_internal"