Which Ros2 Distribution to use?
EOL: End Of Life. After the date, the distribution is not supported anymore
LTS Version: Long Term Support, supported for 5 years
-Recommended to use the latest LTS version, provided that it’s been released at least for a few months
-It is stable and contains all the core packages and stacks needed
=>ROS2 Humble Distribution
Supported Platforms
Ubuntu 22.04 (Jammy): amd64 and arm64
-Each ros2 distribution is linked to a specific ubuntu distribution
-When upgraded to a new ros2 distribution, you might need to upgrade to a new os distribution
Install Ubuntu 22.04 on a VM
How to install a vm with Ubuntu 22.04 on Windows
(1)Download an ISO file for ubuntu
Go to ubuntu.com > Search for Downloads > Just download Ubuntu Desktop > Find Ubuntu 22.04 LTS > Click on Download button
(2)Install Virtual Box
Go to virtualbox.org > Choose current platform > Choose Windows hosts > Run exe and install like any other software > Click next every time
(3)Create a virtual machine on virtual box
(3)-1 Click on 새로 만들기(N)
(3)-2 Name it Ubuntu 22.04, Choose Type Linux, and Version Ubuntu (64-bit)
(3)-3 Choose how much RAM you want to allocate for your vm
Computer has 16GB of RAM. So putting about 6GB for vm, which is quite good
(3)-4 Virtual Hard Disk
-Disk Size: Size of the hard disk
-Minimum 25GB~30GB, Maximum 70GB
(3)-5 Summary
(3)-6 Empty Virtual Machine installed
Don’t have any iso or ubuntu installed on it
(3)-7 Configure 2 CPUs
Click on 설정(S) > Go to System > Go on Processor >
Have 4 good CPUs, use 2 CPUs
=>Virtual Machine correctly configured
(3)-8 Check downloaded Ubuntu ISO
(3)-9 Check empty IDE
Select created Ubuntu virtual machine > Go to 설정 > Go to 저장소 컨트롤: IDE is 비어 있음
(3)-10 Choose disk file
Click on Disk Icon here > Select 디스크 파일 선택 …
(3)-11 Choose the pre-downloaded Disk file
(3)-12 Launch the VM
Click the 시작(T) button
(3)-13 Set Installation
(3)-14 Arrive Installation Setup of Ubuntu
Now ubuntu iso is on vm
Choose you language > Click Install Ubuntu
(3)-15 Choose keyboard layout
Normal QWERTY board, that’s English use
(3)-16 Choose Updates or other softwares configuration
(3)-17 Choose Installation type configuration
Choose Erase disk and install Ubuntu > Click on install now
-No need to be afraid of erase disk thing. The created virtual disk is the only thing being erased. It is irrelevant with deleting the os installed in your computer
(3)-18 Recap on what is being installed
Click on Continue
(3)-19 Choose timezone
(3)-20 Choose username
Type in username, host name, and password
Choose level of security for vm
(3)-21 Download stuff and install
(3)-22 Restart
Restart > Click on Enter
(3)-23 Inital Pop up
Click next or skip
(3)-24 Update the software
Commands that will update your software frequently
Launch terminal > Enter sudo apt update
sudo apt update: Download new sources and check what packages you need to install here
-Even if ubuntu is installed, not everything will be updated
179 packages can be upgraded: My system is really not up to date
Launch terminal > Enter sudo apt upgrade: Need to download stuff and install stuff
Put Y + Enter
sudo apt auto remove:
Remove packages that you don’t need anymore (Have stuff we don’t need)
Launch terminal > Enter sudo apt update
Update the sources
Install a few packages
Enter Y
=> Downloaded all new softwares
Go to 장치 > Click on 게스트 확장 CD 삽입
CD appears
Click on CD > Open File manager
Right click on this > Click on Open in terminal: Make you directly go where the cd has been mounted recently
Click the 시작(T) button
=> If it doesn’t work, try multiple times
Programming Tools
Terminator: Improved terminal where screen can be splitted and can have multiple terminals
-Can split into any wanted layout
-Ctrl+Shift+O: Split terminals horizontally
-Ctrl+Shift+E: Splite terminals vertically
Visual Studio Code: Main IDE
Install in ubuntu software
Installed Extensions
CMake: Edit cmake files. Cmake language support when writing files
Install python3 pip:
-Press Ctrl+Shift+I: When editing python file, use auto-formatting
gedit:
The most basic text editor, need to install a very simple document
Install ROS2 Humble on Ubuntu 22.04
(1)Set locale
Check whether we are in the right location(UTF-8)
Just in case
(2)Setup Sources
software-properties-common package Installation
Ensure that the Ubuntu Universe repository is enabled
Add the ros2 GPG key with apt
Add repository to sources list
(2)Ros2 Installation
Update your apt repository caches after setting up the repositories
ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.
packages.ros.org somewhere, you have the correct sources
Upgrade whatever packages you need to upgrade
ROS2 Installation
Desktop
rose-base: Install collection of packages that make bare-bones & A lot of additional tools top
Development tools: Install compilers and other tools to build ROS packages
Setup your Environment for Ros2
(1)Navigate to the Ros2 Humble folder
(2)Source bash script
Once sourced, you can use Ros2 in this terminal in this session
If not sourced, you will not be able to use Ros2.
So when opening new terminal, in order to use Ros2, I will still need to source it again
(3)Avoid sourcing bash script every time
Problem: Annoying to always source a script every time we open terminal
Solution: Open home directory and so you can open the bashrc
At the end of the bash, add a new line source /opt/ros/humble/setup.bash
Open a new window, bashrc will be solved and it will also source the setup.bash script from the global ros2 installtion folder
Launch a ros2 program
(1)Check whether it is sourced properly in ros2 script
Ros2 installation complete & Environment sourced properly
(2)Launching talker and listener program from the demo nodes cpp package
-Two programs are linked
-Listener will listen to the talker and print the messages that were published by the program here
-Ctrl+c: Kill the program
Kill the program by entering Ctrl+c and restart by entering the command again
No new messages > Again messages from the talker
Reference:
https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
Udemy ROS2 For Beginners (ROS Foxy, Humble - 2023)