win10下ROS2，更新并不快，要点体会：
- 功能包不全
- 节点启动速度明显比Linux慢
- 闪退现象多
但能用……真的能用……
详细过程如下，仅供参考
代码语言：javascript复制**********************************************************************
** Visual Studio 2019 Developer Command Prompt v16.9.3
** Copyright (c) 2021 Microsoft Corporation
**********************************************************************
C:ros_ws>choco upgrade ros-foxy-desktop -y --execution-timeout=0
Chocolatey v0.10.15
Upgrading the following packages:
ros-foxy-desktop
By upgrading you accept licenses for the packages.
ros-foxy-desktop is not installed. Installing...
Progress: Downloading ros-foxy-desktop 20201211.0.0.2104300001... 100%
Progress: Downloading ros-foxy-desktop 20201211.0.0.2104300001... 100%
vcredist2010 v10.0.40219.32503 [Approved]
vcredist2010 package files upgrade completed. Performing other installation steps.
Using system proxy server '127.0.0.1:60839'.
Downloading vcredist2010 64 bit
from 'https://download.microsoft.com/download/1/6/5/165255E7-1014-4D0A-B094-B6A430A6BFFC/vcredist_x64.exe'
Using system proxy server '127.0.0.1:60839'.
Progress: 100% - Completed download of C:UserszhangrelayAppDataLocalTempchocolateyvcredist201010.0.40219.32503vcredist_x64.exe (9.8 MB).
Download of vcredist_x64.exe (9.8 MB) completed.
Hashes match.
Installing vcredist2010...
vcredist2010 has been installed.
Using system proxy server '127.0.0.1:60839'.
Downloading vcredist2010 32 bit
from 'https://download.microsoft.com/download/1/6/5/165255E7-1014-4D0A-B094-B6A430A6BFFC/vcredist_x86.exe'
Using system proxy server '127.0.0.1:60839'.
Progress: 100% - Completed download of C:UserszhangrelayAppDataLocalTempchocolateyvcredist201010.0.40219.32503vcredist_x86.exe (8.58 MB).
Download of vcredist_x86.exe (8.58 MB) completed.
Hashes match.
Installing vcredist2010...
vcredist2010 has been installed.
vcredist2010 may be able to be automatically uninstalled.
The upgrade of vcredist2010 was successful.
Software installed as 'exe', install location is likely default.
ros-foxy-desktop v20201211.0.0.2104300001
ros-foxy-desktop package files upgrade completed. Performing other installation steps.
Installing ros-foxy-desktop...
ros-foxy-desktop has been installed.
ros-foxy-desktop can be automatically uninstalled.
The upgrade of ros-foxy-desktop was successful.
Software installed to 'c:optrosfoxyx64'
Chocolatey upgraded 2/2 packages.
See the log for details (C:ProgramDatachocolateylogschocolatey.log).
C:ros_ws>choco upgrade ros-foxy-desktop -y --execution-timeout=0
Chocolatey v0.10.15
Upgrading the following packages:
ros-foxy-desktop
By upgrading you accept licenses for the packages.
ros-foxy-desktop v20201211.0.0.2104300001 is the latest version available based on your source(s).
Chocolatey upgraded 0/1 packages.
See the log for details (C:ProgramDatachocolateylogschocolatey.log).
C:ros_ws>rviz2
[INFO] [1627340879.662842000] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1627340879.663882400] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1627340879.718344200] [rviz2]: Stereo is NOT SUPPORTED
C:ros_ws>rqt
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider.load(rqt_graph/RosGraph) exception raised in __builtin__.__import__(rqt_graph.ros_graph, [RosGraph]):
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_graphros_graph.py", line 43, in <module>
from qt_dotgraph.dot_to_qt import DotToQtGenerator
File "c:optrosfoxyx64libsite-packagesqt_dotgraphdot_to_qt.py", line 35, in <module>
import pydot
ModuleNotFoundError: No module named 'pydot'
PluginManager._load_plugin() could not load plugin "rqt_graph/RosGraph":
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler.py", line 102, in load
self._load()
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler_direct.py", line 55, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_gui_pyros_py_plugin_provider.py", line 64, in load
return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 91, in load
raise e
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_graphros_graph.py", line 43, in <module>
from qt_dotgraph.dot_to_qt import DotToQtGenerator
File "c:optrosfoxyx64libsite-packagesqt_dotgraphdot_to_qt.py", line 35, in <module>
import pydot
ModuleNotFoundError: No module named 'pydot'
C:ros_ws>pip3 install pydot
Collecting pydot
Downloading pydot-1.4.2-py2.py3-none-any.whl (21 kB)
Requirement already satisfied: pyparsing>=2.1.4 in c:optrosfoxyx64libsite-packages (from pydot) (2.4.7)
Installing collected packages: pydot
Successfully installed pydot-1.4.2
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>rqt
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
C:ros_ws>rqt
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider.load(rqt_top/TOP) exception raised in __builtin__.__import__(rqt_top.top_plugin, [Top]):
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_toptop_plugin.py", line 38, in <module>
from rqt_top.node_info import NodeInfo
File "c:optrosfoxyx64libsite-packagesrqt_topnode_info.py", line 28, in <module>
import psutil
ModuleNotFoundError: No module named 'psutil'
PluginManager._load_plugin() could not load plugin "rqt_top/TOP":
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler.py", line 102, in load
self._load()
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler_direct.py", line 55, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_gui_pyros_py_plugin_provider.py", line 64, in load
return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 91, in load
raise e
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_toptop_plugin.py", line 38, in <module>
from rqt_top.node_info import NodeInfo
File "c:optrosfoxyx64libsite-packagesrqt_topnode_info.py", line 28, in <module>
import psutil
ModuleNotFoundError: No module named 'psutil'
RosPluginProvider.load(rqt_top/TOP) exception raised in __builtin__.__import__(rqt_top.top_plugin, [Top]):
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_toptop_plugin.py", line 38, in <module>
from rqt_top.node_info import NodeInfo
File "c:optrosfoxyx64libsite-packagesrqt_topnode_info.py", line 28, in <module>
import psutil
ModuleNotFoundError: No module named 'psutil'
PluginManager._load_plugin() could not load plugin "rqt_top/TOP":
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler.py", line 102, in load
self._load()
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler_direct.py", line 55, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_gui_pyros_py_plugin_provider.py", line 64, in load
return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 91, in load
raise e
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_toptop_plugin.py", line 38, in <module>
from rqt_top.node_info import NodeInfo
File "c:optrosfoxyx64libsite-packagesrqt_topnode_info.py", line 28, in <module>
import psutil
ModuleNotFoundError: No module named 'psutil'
C:ros_ws>pip3 install psutil
Collecting psutil
Downloading psutil-5.8.0-cp38-cp38-win_amd64.whl (245 kB)
|████████████████████████████████| 245 kB 595 kB/s
Installing collected packages: psutil
Successfully installed psutil-5.8.0
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>rqt
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider.load(rqt_publisher/Publisher) exception raised in __builtin__.__import__(rqt_publisher.publisher, [Publisher]):
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_publisherpublisher.py", line 60, in <module>
numpy.float16, numpy.float32, numpy.float64, numpy.float128,
File "c:optrosfoxyx64libsite-packagesnumpy__init__.py", line 214, in __getattr__
raise AttributeError("module {!r} has no attribute "
AttributeError: module 'numpy' has no attribute 'float128'
PluginManager._load_plugin() could not load plugin "rqt_publisher/Publisher":
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler.py", line 102, in load
self._load()
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler_direct.py", line 55, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_gui_pyros_py_plugin_provider.py", line 64, in load
return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 91, in load
raise e
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 80, in load
module = __builtin__.__import__(
File "c:optrosfoxyx64libsite-packagesrqt_publisherpublisher.py", line 60, in <module>
numpy.float16, numpy.float32, numpy.float64, numpy.float128,
File "c:optrosfoxyx64libsite-packagesnumpy__init__.py", line 214, in __getattr__
raise AttributeError("module {!r} has no attribute "
AttributeError: module 'numpy' has no attribute 'float128'
PluginManager._load_plugin() could not load plugin "rqt_plot/Plot":
Traceback (most recent call last):
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler.py", line 102, in load
self._load()
File "c:optrosfoxyx64libsite-packagesqt_guiplugin_handler_direct.py", line 55, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_gui_pyros_py_plugin_provider.py", line 64, in load
return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
File "c:optrosfoxyx64libsite-packagesqt_guicomposite_plugin_provider.py", line 72, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_guiros_plugin_provider.py", line 107, in load
return class_ref(plugin_context)
File "c:optrosfoxyx64libsite-packagesrqt_plotplot.py", line 57, in __init__
self._data_plot = DataPlot(self._widget)
File "c:optrosfoxyx64libsite-packagesrqt_plotdata_plot__init__.py", line 159, in __init__
raise RuntimeError(
RuntimeError: No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.4.0) or Python-Qwt5.
C:ros_ws>pip3 install numpy
Requirement already satisfied: numpy in c:optrosfoxyx64libsite-packages (1.19.2)
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>pip3 install PyQtGraph
Collecting PyQtGraph
Downloading pyqtgraph-0.12.2-py3-none-any.whl (959 kB)
|████████████████████████████████| 959 kB 435 kB/s
Requirement already satisfied: numpy>=1.17.0 in c:optrosfoxyx64libsite-packages (from PyQtGraph) (1.19.2)
Installing collected packages: PyQtGraph
Successfully installed PyQtGraph-0.12.2
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>pip3 install MatPlotLib
Collecting MatPlotLib
Downloading matplotlib-3.4.2-cp38-cp38-win_amd64.whl (7.1 MB)
|████████████████████████████████| 7.1 MB 1.1 MB/s
Requirement already satisfied: python-dateutil>=2.7 in c:optrosfoxyx64libsite-packages (from MatPlotLib) (2.8.1)
Collecting cycler>=0.10
Using cached cycler-0.10.0-py2.py3-none-any.whl (6.5 kB)
Requirement already satisfied: pyparsing>=2.2.1 in c:optrosfoxyx64libsite-packages (from MatPlotLib) (2.4.7)
Collecting pillow>=6.2.0
Downloading Pillow-8.3.1-1-cp38-cp38-win_amd64.whl (3.2 MB)
|████████████████████████████████| 3.2 MB 726 kB/s
Collecting kiwisolver>=1.0.1
Downloading kiwisolver-1.3.1-cp38-cp38-win_amd64.whl (51 kB)
|████████████████████████████████| 51 kB 990 kB/s
Requirement already satisfied: numpy>=1.16 in c:optrosfoxyx64libsite-packages (from MatPlotLib) (1.19.2)
Requirement already satisfied: six>=1.5 in c:optrosfoxyx64libsite-packages (from python-dateutil>=2.7->MatPlotLib) (1.15.0)
Installing collected packages: cycler, pillow, kiwisolver, MatPlotLib
Successfully installed MatPlotLib-3.4.2 cycler-0.10.0 kiwisolver-1.3.1 pillow-8.3.1
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>pip3 install Python-Qwt5
ERROR: Could not find a version that satisfies the requirement Python-Qwt5 (from versions: none)
ERROR: No matching distribution found for Python-Qwt5
WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.
You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.
C:ros_ws>rqt
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
RosPluginProvider._parse_plugin_xml() plugin file "c:optrosfoxyx64sharerqt_image_view/plugin.xml" in package "rqt_image_view" not found
C:ros_ws>choco upgrade ros-foxy-rqt
Chocolatey v0.10.15
Upgrading the following packages:
ros-foxy-rqt
By upgrading you accept licenses for the packages.
ros-foxy-rqt is not installed. Installing...
ros-foxy-rqt not installed. The package was not found with the source(s) listed.
Source(s): 'https://aka.ms/ros/public;https://chocolatey.org/api/v2/'
NOTE: When you specify explicit sources, it overrides default sources.
If the package version is a prerelease and you didn't specify `--pre`,
the package may not be found.
Please see https://chocolatey.org/docs/troubleshooting for more
assistance.
Chocolatey upgraded 0/1 packages. 1 packages failed.
See the log for details (C:ProgramDatachocolateylogschocolatey.log).
Failures
- ros-foxy-rqt - ros-foxy-rqt not installed. The package was not found with the source(s) listed.
Source(s): 'https://aka.ms/ros/public;https://chocolatey.org/api/v2/'
NOTE: When you specify explicit sources, it overrides default sources.
If the package version is a prerelease and you didn't specify `--pre`,
the package may not be found.
Please see https://chocolatey.org/docs/troubleshooting for more
assistance.
C:ros_ws>choco upgrade ros-foxy-rqt-tf-tree
Chocolatey v0.10.15
Upgrading the following packages:
ros-foxy-rqt-tf-tree
By upgrading you accept licenses for the packages.
ros-foxy-rqt-tf-tree is not installed. Installing...
ros-foxy-rqt-tf-tree not installed. The package was not found with the source(s) listed.
Source(s): 'https://aka.ms/ros/public;https://chocolatey.org/api/v2/'
NOTE: When you specify explicit sources, it overrides default sources.
If the package version is a prerelease and you didn't specify `--pre`,
the package may not be found.
Please see https://chocolatey.org/docs/troubleshooting for more
assistance.
Chocolatey upgraded 0/1 packages. 1 packages failed.
See the log for details (C:ProgramDatachocolateylogschocolatey.log).
Failures
- ros-foxy-rqt-tf-tree - ros-foxy-rqt-tf-tree not installed. The package was not found with the source(s) listed.
Source(s): 'https://aka.ms/ros/public;https://chocolatey.org/api/v2/'
NOTE: When you specify explicit sources, it overrides default sources.
If the package version is a prerelease and you didn't specify `--pre`,
the package may not be found.
Please see https://chocolatey.org/docs/troubleshooting for more
assistance.
C:ros_ws>
