ros_from_src

To build ros entirely from source without using a PPA (or even the debian ros packages):

NOTE: Following instructions are tested on Ubuntu 2404

Clone repo and install dependencies

git clone https://github.com/project-echo/ros_from_src.git
cd ros_from_src
mkdir build
cd build
../git_clone.sh
# (take look at this script before running as sudo)
sudo ../dependencies.sh

Install orocos_kdl

sudo mkdir -p /opt/orocos/noetic
sudo chown ${USER} /opt/orocos/noetic

git clone https://github.com/orocos/orocos_kinematics_dynamics.git
cd orocos_kinematics_dynamics/orocos_kdl 

mkdir build
cd build

cmake .. -DCMAKE_INSTALL_PREFIX=/opt/orocos/noetic
make -j$(nproc)
sudo make install

sudo chown root /opt/orocos/noetic

Build

cd ros_from_src/build

# The build.sh file will also install to /opt/ros/noetic
sudo mkdir -p /opt/ros/noetic
sudo chown ${USER} /opt/ros/noetic
../build.sh
sudo chown root /opt/ros/noetic

Export variables and source

# Make sure to check the ros_from_src path before exporting
# Also add this to your ~/.bashrc
source $HOME/ros_from_src/source.bash # change to path on your system

If you have problems compiling packages that use pcl: build processes complaining they depend on usb-1.0 but can't find it, apply this patch to one of pcl's included cmake files:

--- old/Findlibusb.cmake        2025-05-25 14:55:58.089547900 +0300
+++ /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/Findlibusb.cmake        2025-05-25 14:50:09.888244937 +0300
@@ -69,5 +69,5 @@
 if(libusb_FOUND)
   add_library(libusb::libusb UNKNOWN IMPORTED)
   set_target_properties(libusb::libusb PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${libusb_INCLUDE_DIR}")
-  set_target_properties(libusb::libusb PROPERTIES IMPORTED_LOCATION "${libusb_LIBRARIES}")
+  set_target_properties(libusb::libusb PROPERTIES IMPORTED_LOCATION "${PC_libusb_LINK_LIBRARIES}")
 endif()