ros2lint

How to use a light-weight version of ros2, packages are up to rclc and ros2cli_common_extensions when building from source code.

Description

This repository demonstrate how to build a light-weight version of ros2, packages up to rclc and ros2cli_common_extensions. It is intended to be used for linting purposes only.

Install from source code

Prerequisites

reference(humble)

TODO: For specific dependencies, please refer to the Dockerfile.

Build

Instead of building the entire ros2, we only build the packages we need. In this case we build packages up to rclc and ros2cli_common_extensions.

colcon build --packages-up-to rclc --packages-up-to ros2cli_common_extensions

Install

We install the packages to a custom location, in this case install.

Use a soft link to make the packages available to the system.

sudo ln -s /path/to/install /opt/ros/${ROS_DISTRO}

Docker

The Docker Image is available on Docker Hub. It's based on Ubuntu 20.04 and ROS2 Humble.

Docker Hub

docker pull tonghezhang/ros2_x86:humble_lint_0.1

Run

example:

sudo docker run --shm-size=1024m --name ros2_humble_lint --privileged -it -d -p 2337:22 -p 4907:4000 -v /Users/zhangtonghe/share:/share   tonghezhang/ros2_x86:humble_lint   /bin/bash

Limitation

0. The Docker Image is based on Ubuntu 20.04 and ROS2 Humble. It's not possible to run the image on a host with a different OS or ROS2 version.

1. Using iceoryx as the RMW implementation is not always supported due to #1776, so we recommand rmw_fastrtps_cpp as the default RMW implementation. But you can find a solution in #1776 to use iceoryx as the RMW implementation.

Docker update record

Update Record