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Building ROS 2 on Linux with Eclipse Oxygen [community-contributed]

Warning

Some people have reported issues about this tutorial. If the steps work for you please leave a comment on https://github.com/ros2/ros2/issues/495 . If they don’t then please comment with the first step that didn’t work.

This tutorial is based on a clean ubuntu-16.04.2 install and eclipse oxygen with egit. It uses RTI Connext as middleware for Realtime performance. The original Install page is perhaps more up-to-date, so check it for info.

Install:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/dashing.list'
sudo apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt update
sudo apt install git wget build-essential cppcheck cmake libopencv-dev python-empy python3-dev python3-empy python3-nose python3-pip python3-pyparsing python3-setuptools python3-vcstool python3-yaml libtinyxml-dev libeigen3-dev clang-format pydocstyle pyflakes python3-coverage python3-mock python3-pep8 uncrustify libasio-dev libtinyxml2-dev libcurl4-openssl-dev libqt5core5a libqt5gui5 libqt5opengl5 libqt5widgets5 libxaw7-dev libgles2-mesa-dev libglu1-mesa-dev qtbase5-dev

Then install

sudo pip3 install argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-cov pytest-runner

Create a eclipse workspace named ros2_ws. (The name is not needed to be ros2_ws)

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Inside this eclipse-workspace we create a C++ Project. With this option we have a indexer for code-completion.

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We name the project ros2_ws

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We see our project and some includes. These includes dont reside in our workspace, so dont remove, they are for the indexer.

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We create a folder inside our project, named “src”

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We see the folder in our project. This folder also exist in our workspace. After that we go to a console and switch to directory /home/ros/ros2_ws/ros2_ws there we enter

wget https://raw.githubusercontent.com/ros2/ros2/dashing/ros2.repos
vcs-import src < ros2.repos

add export RTI_LICENSE_FILE=/home/ros/rti_connext_dds-5.3.1/rti_license.dat to .bashrc and source it.

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We now need a RTI license, which we get on their website. Refer to Linux Development Setup page. The RTI license file will be directly send per email after sign-up.

In the email is a link to the RTI software to download. We run the .run file after chmod +x

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We choose our home directory to install

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In the Launcher which started, we select our RTI license file and copy it global

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select in the down-left side the install-button

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install the security package from RTI software

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and the openssl package

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Unpack the openssl-1.0.2n package and copy it to the RTI install directory. source /home/ros/rti_connext_dds-5.3.1/resource/scripts/rtisetenv_x64Linux3gcc5.4.0.bash on a console and export RMW_IMPLEMENTATION=rmw_connext_cpp.

Close eclipse-IDE and open it from the shell we sourced all the scripts from above.We now open in Eclipse the Project->Preferences and go to Environment.

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We enter environment variables. We can get the vars simply by opening a bash console, then we run “env > /tmp/out”, then source the ROS 2 local_setup.bash, then “env > /tmp/out1” and “diff /tmp/out /tmp/out1”. The output that diff is showing, is what we enter in eclipse environment vars, so that eclipse knows about e.g. the new PATH var.

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Then we go to Builders and click the “New” button.

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We enter the amen.py settings

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After that we unselect CDT-Builder

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Then we go to C++ Build and delete the build command make, because we use ament.py (Dont know really if this is needed as we disabled CDT-Builder before?)

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We now can right-click and run “Build Project”.

HINT if it happens: error: NDDSHOME set to but could neither find all optimized libraries nor all debug libraries I deleted dir /home/ros/rti_connext_dds-5.3.1/lib/x64Linux3gcc5.4.0/5.3.1/5.3.1 with doubled libs

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We can then open two console, source ros2_ws/install/local_setup.bash in both consoles and run talker and listener

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We see our Project in eclipse, go to git-repositories-view and import local repo

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We select our directory and select the repository we are interresting in seeing e.g. git-infos like author of code-line, or switching to other branches, etc.

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After adding the git-repo to the git-repository-view, we can right-click on it and select “Import projects”

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The import source is the directory of our project

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We see in the down-left side in the project-explorer view, that this project is beside our ros2_ws project. But they both use the same files.But one is linked with Egit and can show git-annotations, etc. the other not. So open files from the project which is linked to Egit.

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File linked with Egit. Right-click beside the line-number in the editor and choose “Show Revision information” from the pop-up dialog, then you could see e.g. the author, and other stuff like commit message if you hover over it with the mouse.

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