Difference between revisions of "RoboRacing Software Installation Instructions ROS2"
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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 | ||
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<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
cd ~/roboracing_ws | cd ~/roboracing_ws | ||
| − | sudo apt install -y python3-colcon-common-extensions | + | |
| + | sudo apt install -y python3-colcon-common-extensions | ||
| + | |||
| + | sudo rosdep init | ||
| + | |||
| + | rosdep update | ||
| + | |||
rosdep install --from-path src --ignore-src -y | rosdep install --from-path src --ignore-src -y | ||
</span></div> | </span></div> | ||
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<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | <div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace"> | ||
colcon build | colcon build | ||
| + | |||
source ~/roboracing_ws/install/setup.bash | source ~/roboracing_ws/install/setup.bash | ||
</span></div> | </span></div> | ||
Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance. | Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance. | ||
Latest revision as of 04:12, 2 January 2022
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.
Contents
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 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.
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 update
sudo apt install ros-galactic-desktop
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:
sudo apt install terminator
Step 3 - Source Environment Variables
For the time being, we do not recommend placing these commands into ~/.bashrc because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
source /opt/ros/galactic/setup.bash
Setup Workspace
Step 4 - Make File Structure
mkdir -p ~/roboracing_ws/src
cd ~/roboracing_ws/src
git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
Step 5 - Install Dependencies
cd ~/roboracing_ws
sudo apt install -y python3-colcon-common-extensions
sudo rosdep init
rosdep update
rosdep install --from-path src --ignore-src -y
Step 6 - Building the Code
colcon build
source ~/roboracing_ws/install/setup.bash
Similar to line 3, you should run source ~/roboracing_ws/install/setup.bash with every new shell instance.
