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ROS 2 Windows Cookbook

This cookbook configures a host machine for ROS 2 development or binary installation. This README describes how to install all the prerequisites and how to run chef-solo with this cookbook. Due to license encumberances on the Chef binaries, this README recommends installing Cinc for their binary distributions of the Chef software.

Windows Install

This walkthrough will install the following:

  • chef/chef-solo with the cinc distribution
  • chocolatey
  • git
  • chefdk
  • ros2_windows cookbook

In powershell, install Cinc's chef distribution:

> . { iwr -useb https://omnitruck.cinc.sh/install.ps1 } | iex; install

In same shell, install chocolatey, git and the chefdk tools (primarily for berks).

> Set-ExecutionPolicy Bypass -Scope Process -Force;. { iwr -useb https://chocolatey.org/install.ps1 } | iex
> choco install -y git chefdk
> restart-computer

After the computer restarts, in the cmd shell (not powershell) clone this repo:

> git clone https://github.com/ros-infrastructure/ros2-cookbooks

Run berks to get the cookbook dependencies

cd ros2-cookbooks/cookbooks/ros2_windows
berks vendor ..

Run chef-solo to configure machine.

> c:\cinc-project\cinc\bin\cinc-solo -c ros2-cookbooks\.chef\solo.rb -j ros2_windows.json

Type yes to accept the standard Chef licenses.

Debug any issues that arise until running chef-solo completes successfully.

Configuration options

The file ros2_windows.json may be modified for your own installation. Please check the available attributes in cookbooks/ros2_windows/attributes

For example, the following will configure the installation to setup the machine for development with Connext.

Adjust the rti_connext parameters to match your installation files.

{
  "default_attributes": {
    "ros2_windows": {
      "download_sources": "false",
      "vs_version": "buildtools",
      "ros2_ws": "C:/ci",
      "install_connext": "true",
      "rti_connext": {
        "target_platform": "x64Win64",
        "min_vs_version": "2017",
        "license_file": "C:\\TEMP\\rticonnextdds-license\\rti_license.dat",
        "installer_dir": "C:\\TEMP\\rticonnextdds-src",
        "version": "5.3.1",
        "edition": "pro",
        "openssl_version": "1.0.2n"
      }
    }
  },
  "run_list": [
    "role[ros2-development]",
    "recipe[ros2_windows::ros2_sources]"
  ]
}

Automating Qt installation

For the most part the Qt installation is fully automated. However, downloading Qt binaries requires creating a login. This login email and password can be set by suppling the chef attributes

node['ros2']['qt_account_email']
node['ros2']['qt_account_password']

If you skip this step, the Qt installer will pause and require you to create a login before continuing. Importantly, on a headless setup, you will not be able to see this GUI feedback and your installation will pause indefinitely.