RoboRacing Software Installation Instructions ROS2 - Revision history

Nbartholomai3: /* Step 1 - ROS2 Galactic Installation */

2022-01-02T08:12:49Z

‎Step 1 - ROS2 Galactic Installation

Cjenkins72: /* Step 6 - Building the Code */

2021-11-17T22:01:40Z

‎Step 6 - Building the Code

Cjenkins72: /* Step 5 - Install Dependencies */

2021-11-17T22:00:01Z

‎Step 5 - Install Dependencies

Cjenkins72: /* Step 5 - Install Dependencies */

2021-11-17T21:58:39Z

‎Step 5 - Install Dependencies

Cjenkins72: /* Step 1 - ROS2 Galactic Installation */

2021-11-16T02:22:43Z

‎Step 1 - ROS2 Galactic Installation

Cjenkins72: Created page with "Category:RoboRacing Welcome! This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_I..."

2021-10-04T00:45:32Z

Created page with "Category:RoboRacing Welcome! This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_I..."

New page

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl gnupg lsb-release
sudo 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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws
sudo apt install -y python3-colcon-common-extensions python3-rosdep
rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build
source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

← Older revision		Revision as of 08:12, 2 January 2022
Line 30:		Line 30:

	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
		+
		+	sudo apt update

	sudo apt install ros-galactic-desktop		sudo apt install ros-galactic-desktop

@@ Line 73: / Line 73: @@
 <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
 colcon build
 source ~/roboracing_ws/install/setup.bash
 </span></div>
 Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

@@ Line 61: / Line 61: @@
 cd ~/roboracing_ws
-sudo apt install -y python3-colcon-common-extensions python3-rosdep
+sudo apt install -y python3-colcon-common-extensions
 rosdep install --from-path src --ignore-src -y

@@ Line 14: / Line 14: @@
 <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
 sudo apt update && sudo apt install locales
 sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 export LANG=en_US.UTF-8
 sudo apt install software-properties-common
 sudo add-apt-repository universe
 sudo apt update && sudo apt install curl gnupg lsb-release
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg