Skip to content

ROS2 project from development to deployment, Part 2: Build Debian packages

Run the command From package folder

deb location

The deb file locate in parent folder: src folder

1
bloom-generate rosdebian --ros-distro humble
build deb
1
fakeroot debian/rules binary

Build offline without internet

files

rosdep files index location at /etc/ros/rosdep/sources.list.d the default file 20-default.list can be download from github rosdistro/rosdep/source.list.d/20-default.list

file description
base.yaml system dependencies that are not ROS specific like boost, opencv
python.yaml map python package name

bloom try to download index-v4.yaml file from github rosdistro it can be override by setting the ROSDISTRO_INDEX_URL environment variable, the default index-v4.yaml map each ros distro to yaml file that also locate in rosdistro github.

Build Offline rosdep and bloom

  • Download base.yaml, python.yaml, index-v4.yaml and the request distribution.yaml file in our case humble to local folder
  • update 20-default.list file entry to point to the download file (replace http:// with file://)
  • Add project_rosdep.yaml file that map the workspace packages, it can be locate in the project folder or in other central location with other projects.
  • update this location in /etc/ros/rosdep/sources.list.d as 30-custom_project.list
  • set ROSDISTRO_INDEX_URL to index-v4.yaml local location
  • Run rosdep update --rosdistro humble
  • Run bloom-generate rosdebian --ros-distro humble to build