Installation tutorial of ROS1 and ROS2

I have just finished the one week ROS summer training. It should be very difficult to install ROS. However, after your group's encounter and discussion, I have summarized a lot of experience. I am still relatively smooth in installing ROS, so I write a tutorial to record my installation tutorial. I hope it will be helpful to you.

1, Preparatory work

1. Corresponding ubuntu version of ros1:

2.ros2 corresponding ubuntu version:

ROS Foxy Ubuntu20.04

ROS Dashing Ubuntu18.04

ROS Crystal Ubuntu16.04

Here, ROS ＾ melody and ROS2 ＾ Foxy, which are relatively stable, have a long life cycle and complete functions, are selected for explanation

Ubuntu20.04 download address: https://ubuntu.com/download/desktop/thank-you?version=20.04.2.0&architecture=amd64

Ubuntu18.04 download address: https://releases.ubuntu.com/18.04.5/ubuntu-18.04.5-desktop-amd64.iso

3. Installation of Ubuntu

After downloading the image, you can choose three methods: virtual machine, dual system and u disk startup.

It is suggested that readers who have no experience in installing dual systems should not easily try dual systems, because it may cause irreversible errors to the original win system; If the computer has excellent performance, it is recommended to use Vmare virtual machine for automatic installation. All options are filled in by default. After loading the image, go online and wait for the automatic installation to complete; The best solution is to use the u disk to operate the startup disk, because on the one hand, even if the system is damaged due to misoperation, it will not lead to unnecessary errors in the computer's own system, on the other hand, it can fully call the computer performance, which is convenient to call the more performance software such as gazebo simulation software in the later stage.

2, Installation of ROS1

Compared with ros2, the installation process of ros1 is more complicated, especially the last step of ROS update. Due to network problems, most people do not know how to solve this error when they first contact ROS. This paper will give an answer.

1. Instructions for official installation of ROS: http://wiki.ros.org/Installation/Ubuntu?distro=melodic

2. Installation steps of ROS # melody:

(1) install ros source

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

(2) set key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Note: without this step, a bunch of errors will pop up when sudo apt get update is executed. This is a GPG error, indicating that the following signatures cannot be verified. We need to obtain the public key in the system and obtain the key number from the information.

The public key will pop up at the end of the error. If the above key fails, you can replace it by yourself.

(3) update

sudo apt-get update

(4) installation

sudo apt-get install ros-melodic-desktop-full
#This is the installation of the ros body
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
#This is to install some commonly used function packs

The full version of the desktop is directly installed here, and contains ros, rqt, rviz, robot generic libraries, 2D / 3D simulators, navigation and 2D / 3D perception and rosinstall. These commonly used ros tools, of course, catkin the function package downloaded on github_ If an error is reported during make compilation and there is no library, you can install it according to the prompt and compile it.

(5) ROSdep initialization

According to the official tutorial, you can directly execute the following code

sudo rosdep init
rosdep update

However, due to network reasons, most small partners will report an error when executing sudo # rosdep # init and cannot access the link, because rosdepc uses domestic sources, and rosdep initialization fails because it uses github and cannot be accessed in China.

This problem can be solved by replacing the domestic image rosdepc made by Xiaoyu dalao.

sudo apt-get install python3-pip 
#Installing pip3
sudo pip install rosdepc
#Install rosdepc
sudo rosdepc init
#rosdep initialization
rosdepc update
#Update ros source

The depc library is responsible for dalao, and here is also welcome to WeChat's official account: fish flavor ROS

(6) environment configuration

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

(7) after installation, try to run

Executing on the terminal: roscore

If the following information appears, the installation is successful

... logging to /home/pi/.ros/log/96bf3f3c-fca3-11eb-ad36-000c29aa8d4a/roslaunch-ubuntu-2076.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:43097/
ros_comm version 1.14.11


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES

auto-starting new master
process[master]: started with pid [2087]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 96bf3f3c-fca3-11eb-ad36-000c29aa8d4a
process[rosout-1]: started with pid [2098]
started core service [/rosout]

(8) run the Little Turtle program

Open the two terminals and input the following commands respectively

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

You can open the operation interface of the little turtle

Running rosrun turnlesim turnle_ teleop_ The movement of the little turtle can be controlled by using the up, down, left and right keys on the key terminal, as shown in the figure

It should be noted that after the function package downloaded on github is compiled, if the roslaunch cannot be started, it needs to be executed once in the project folder

source devel/setup.bash

You can use roslaunch to start the corresponding function package.

At this point, the installation process of ROS # melody is over.

2, Installation of ROS2

1. Installation of ROS} Foxy

(1) setting the language environment

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
#This step is to transpose the default character encoding of ubuntu system into utf-8 format

(2) add the key of ros2

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add -

(3) add the source library of ros2 to the source list of the system

 sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

(4) update list

sudo apt update

(5) install the body of ros2

sudo apt install ros-foxy-desktop

(6) install argcomplete

sudo apt install python3-argcomplete

(7) configure environment variables

echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc

(8) after installation, try to run

Here, take talker and listener, two typical examples of Ross 2 communication based on dds, as examples. After discovering each other based on the discover mechanism, they establish topic and transmit message

Execute first

ros2 run demo_nodes_cpp talker

The implementation effect is as follows

Re execution

ros2 run demo_nodes_cpp listener

As shown in the figure, the two nodes have been connected based on the discover mechanism

(9) run the Little Turtle program

Similarly, we can also run the Little Turtle program in ros2

Execute in two terminals respectively

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

(10) install additional function packs

sudo apt update
sudo apt install ros-foxy-rmw-opensplice-cpp
sudo apt install ros-foxy-rmw-connext-cpp

At this point, both ros1 and ros2 are installed and ready for use.

For the first time, I hope you can give me more advice.

Topics: Ubuntu ROS

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