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You're reading the documentation for a development version. For the latest released version, please have a look at Lyrical.

Building

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• Cross-compilation
  • Overview
  • How does it work ?
  • Alternatives
• 构建系统
  • 构建工具
  • Build helpers
    • The ament_package package
    • The ament_cmake repository
    • The ament_lint repository
  • Meta-build tool
• Deployment Guidelines
  • Background
  • Prerequisites
  • General Guidelines
  • Building a deployment scenario
    • Generating the Docker Image
    • Understanding the compose file
  • Running the example
    • Examining the containers
• Understanding the security keystore
  • Background
  • Security Artifact Locations
    • Public Key Materials
    • Private Key Materials
    • Domain Governance Policy
    • Security Enclaves
  • Take the quiz!
• Using Xacro to clean up your code
  • Using Xacro
  • Constants
  • Math
  • Macros
    • Simple Macro
    • Parameterized Macro
  • Practical Usage
    • Leg macro
• Supplementing custom rosdep keys
  • Overview and motivation
  • Preliminaries: How rosdep fetches rosdep keys
  • Extending rosdep with a custom sources file
  • Closing remarks
  • Further reading
• Ament Lint CLI Utilities
  • Background
  • Prerequisites
  • Ament Lint CLI Tools
    • 1 ament_copyright
    • 2 ament_cppcheck
    • 3 ament_cpplint
    • 4 ament_flake8
    • 5 ament_uncrustify
    • 6 Other Ament Tools Of Note
• Using Eclipse Oxygen with rviz2 [community-contributed]
  • Setup
  • Eclipse-indexer
  • Debugging with eclipse
• ament_cmake user documentation
  • Basics
    • Basic project outline
    • Compiler and linker options
    • Finding dependencies
    • Adding targets
    • Linking to dependencies
    • Installing
  • Linting and Testing
    • Linting
    • Testing
  • Extending ament
    • Adding a function/macro to ament
    • Adding to extension points
    • Adding extension points
  • Adding resources
    • The ament index explained
    • Querying the ament index
    • Adding to the ament index
  • Setting environment variables
    • About environment hooks
    • Defining Persistent Environment Variables through Hooks
  • API Version Management
    • Understanding auto-generated version macros
    • Generating version headers for your package
    • Using version macros for API negotiation
• ament_cmake_python user documentation
  • Basics
    • Basic project outline
    • Using ament_cmake_python
    • Using ament_cmake_pytest
• Building a custom deb package
  • Prerequisites
  • Install dependencies
  • Initialize rosdep
  • Build the deb from the package
• Cross-compilation
• Running ROS 2 nodes in Docker [community-contributed]
  • Run two nodes in a single docker container
  • Run two nodes in two separate docker containers
• Setup ROS 2 with VSCode and Docker [community-contributed]
  • Install VS Code and Docker
    • Install Docker
    • Install VS Code
    • Install Remote Development Extension
  • Configure workspace in Docker and VS Code
    • Add your ROS 2 workspace
    • Edit devcontainer.json for your environment
    • Edit Dockerfile
  • Open and Build Development Container
    • Test Container
• ROS 2 Core Maintainer Guide
  • Continuous Integration
    • PR builds (https://build.ros2.org/view/Rpr)
    • CI builds (https://ci.ros2.org)
  • Merging pull requests
  • Keeping CI green
  • Making releases
    • Source release
    • Binary release
  • Backporting to released distributions
  • Responding to issues
  • Getting help
• DDS tuning information
  • Cross-vendor tuning
  • Fast RTPS tuning
  • Cyclone DDS tuning
  • RTI Connext tuning
• Using variants
  • Adding variants
  • Creating project-specific variants
    • Creating custom variants with platform-specific tools
• Package documentation
  • Larger Packages
  • API Documentation
  • Adding Your Package to docs.ros.org
• Using Python Packages with ROS 2
  • Installing via rosdep
  • Installing via a package manager
  • Installing via a virtual environment
• Developing a ROS 2 package
  • Prerequisites
  • Creating a package
    • C++ Packages
    • Python Packages
    • Combined C++ and Python Packages
• Releasing a Package
• Building a real-time Linux kernel [community-contributed]
• Building a package with Eclipse 2021-06
• Implementing custom interfaces - how-to
  • Summary
  • Prerequisites
  • Steps