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README-WINDOWS.md

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ROS2CS - Windows 10

Building

Prerequisites

Important notices

  • Windows path length is limited to 260 characters by default. A good solution is to modify your HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\FileSystem registry key LongPathsEnabled to 1. This way you will avoid path length issues. Alternatively, you need to clone your repo to C:\dev into r2cs folder or a similar shallow path to avoid this issue during build. Cloning into longer path will cause compilation errors!

  • For building and running a Visual Studio preconfigured powershell terminal must be used. Standard powershell prompt might not be configured properly to be used with MSVC compiler and Windows SDKs. You should have Visual Studio already installed (ROS2 dependency) and you can find shortcut for Developer PowerShell for VS here: C:\ProgramData\Microsoft\Windows\Start Menu\Programs\Visual Studio 2019\Visual Studio Tools.

  • A powershell terminal with administrator privileges is required for Windows and ros2 galactic. This is because python packages installation requires a privilage for creating symlinks. More about this issue: github issue.

  • There is a bug with hardcoded include exports in some ros2 galactic packages on Windows. Easiest workaround is to create a C:\ci\ws\install\include directory in your system. More about this bug and proposed workarounds: github issue.

  • Sometimes it is required to set NuGet package feed to nuget.org: dotnet nuget add source --name nuget.org https://api.nuget.org/v3/index.json in order to resolve some missing packages for ros2cs project.

Steps

  • Clone this project.
  • Source your ROS2 installation (C:\dev\ros2_foxy\local_setup.ps1)
  • Navigate to the top project folder and pull required repositories (get_repos.ps1)
    • You can run script with --get-custom-messages argument to fetch extra messages from custom_messages.repos file.
    • It will use vcstool to download required ROS2 packages. By default, this will get repositories as set in ${ROS_DISTRO}.
  • Build package (build.ps1)
    • It invokes colcon_build with --merge-install argument to simplify libraries installation
    • You can build tests by adding --with-tests argument
  • To test your build please check main readme Testing section

Standalone version (Windows)

By default, Windows build process generates standalone libraries in install/standalone directory. You can disable this feature by setting CMake option STANDALONE_BUILD to OFF.

To run standalone application you must deploy it with libraries from both install/bin and install/standalone.

To run examples with standalone build you should modify PATH environment variable so your executable will find all the required libraries (if executable lies in a different directory than libraries). Additionally all libraries need to be in a visible path, since they are loaded dynamically at runtime.

Troubleshooting

  • Tests are not working ('charmap' codec can't decode byte) on Windows

Problem may occur on non english version of Windows. This error is caused by impossibility in decoding dotnet output by ament tools.

Fix: Change your dotnet output to english by temporarily renaming your localization directory (pl to pl.bak, fr to fr.bak etc.) in your dotnet sdk directory.

If no solution of your problem is present in the section above, please make sure to check out ROS2 For Unity Troubleshooting section