ROS2 and Gazebo packages, and dependencies for building C++ projects on Windows 10

• ROS2 (ros2-eloquent-20191122-windows-release-amd64)
• Gazebo (gazebo10 7c4281fe1229)
• OpenCV (4.2.0)
• RealSense2 (86280d3)
• OpenSSL (Win64 v1.0.2t)
• Boost (1.70.0)

1. Allow running downloaded PowerShell scripts
   1. Open an Admin PowerShell window and run Set-ExecutionPolicy -ExecutionPolicy Unrestricted
2. Download and install Git LFS for storing binary files
3. Visual Studio for editing and building
   1. Depending on your preference, install either Visual Studio or both Visual Studio Code and Build Tools for Visual Studio (not the main download; look under Tools for Visual Studio 2019)
   2. Open "Visual Studio Installer", modify your Visual Studio installation, and install the "Desktop development with C++" or "C++ build tools" workload
4. Python dependencies for ROS2 (adapted from https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary)
   1. Install Chocolatey in an Admin PowerShell window

      > iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))

   2. Install Visual C++ Redistributables

      > choco install -y vcredist2013 vcredist140

   3. Install Python 3.7.5 (this must be installed via Chocolatey)

      > choco install python --version=3.7.5

   4. Install CLI dependencies

      > pip install -U catkin_pkg cryptography empy ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools

   5. Install RQT dependencies

      > pip install -U pydot PyQt5

   6. Install colcon

      > pip install -U colcon-common-extensions

Right-click WindowFrame.ps1 and select "Run with PowerShell".

This will open and configure an Admin PowerShell window ready to:

• Run ROS2
  • ros2
  • rviz2
  • rqt
  • rqt_graph
• Run Gazebo
  • gazebo [<path_to_world>] [--verbose]
• Build with included packages (in VS Code or via the command line)

  > mkdir build
  > cd build
  > cmake .. -G "NMake Makefiles"
  > nmake

• If you see this error: "failed to create process," ensure that Python is installed via Chocolatey. See Prerequisites for details.

• If you see this error: "Unable to get rmw_implementation_identifier, try specifying the implementation to use via the 'RMW_IMPLEMENTATION' environment variable," install the Visual C++ Redistributable Packages for Visual Studio 2013 (source: ROS2 Development Setup Troubleshooting)

For constructing or updating WindowFrame, check out construction.