https://github.com/termux/proot-distro
termux-setup-storage
pkg install proot-distro
proot-distro login ubuntu --termux-home
Install ROS
https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
apt install software-properties-common
add-apt-repository universe
apt update && apt install curl -y
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
ros-dev-tools
sudo apt install -y \
python3-flake8-blind-except \
python3-flake8-builtins \
python3-flake8-class-newline \
python3-flake8-comprehensions \
python3-flake8-deprecated \
python3-flake8-import-order \
python3-flake8-quotes \
python3-pytest-repeat \
python3-pytest-rerunfailures
mkdir -p ~/ros2_humble/src
cd ~/ros2_humble
vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
sudo apt upgrade
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
cd ~/ros2_humble/
colcon build --symlink-install
But that may not work. The following links gave me some hints (most helpful to least)
I was not able to compile without not building ros-visualization. Not needed anyways.
cd ros-visualization
touch COLCON_IGNORE
cd ../
Then it would crash termux without warning. I reduced the number of processors and told colcon to build sequentially
export MAKEFLAGS="-j1"
colcon build --symlink-install --parallel-workers 1 --executor sequential
And then wait two weeks. Not kidding.
The following might be needed to be compatible with other ROS2 implementations.
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
This installation takes about 14 Gb, including proot, ubuntu, ROS dependencies, etc.
after doing:
. ~/ros2_humble/install/local_setup.bash
ros2 run demo_nodes_cpp talker
I get
getifaddrs: Permission denied
https://www.reddit.com/r/termux/comments/143y69f/patching_getifaddrs_permission_denied/
This seems like a ROS2 problem to patch, rather than a termux or proot issue. proot/termux just doesn’t support this functionality…
How can I route android sensor data to this? I will need to check out this website…
https://wiki.termux.com/wiki/Termux-sensor