RoPod/Tutorials/ROS installation: Difference between revisions

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=Get familiar with ROS =
<div style="width: 40%; float: right;"><center>{{:RoPod_Table_Menu}}</center></div>
 
<div style="float: left; width:60%">
=Get familiar with ROS=
The Robot Operating System (ROS) is a framework for writing robot software. ROS uses concepts like nodes, topics, messages, etc. Get familiar with them by searching on the web. You can start reading at:
The Robot Operating System (ROS) is a framework for writing robot software. ROS uses concepts like nodes, topics, messages, etc. Get familiar with them by searching on the web. You can start reading at:
http://wiki.ros.org/ROS/Concepts
http://wiki.ros.org/ROS/Concepts


=Install ROS =
=Install basic set of packages=  
ROS have several distributions (versions). Install ROS kinetic distribution, which is the one compatible with ubuntu 16.04. Follow the instructions on this webpage.


http://wiki.ros.org/kinetic/Installation/Ubuntu
<pre>sudo apt-get -y update && apt-get install -y \
nano \
vim \
git \
mercurial \
cmake \
build-essential \
automake \
libtool \
libtool-bin \
pkg-config \
wget \
curl \
unzip \
libjsoncpp-dev</pre>


(This is not valid/ to be checked)Then, install roslaunch, which will be useful when launching multiple ROS applications from packages.
=Install ROS=
ROS have several distributions (versions). Install ROS Noetic distribution, which is the one compatible with Ubuntu 20.04. Follow the instructions on this webpage. Install the Desktop-Full version. Make sure you follow '''at least steps 1.1-1.6 in the webpage.'''


<pre>sudo apt-get install python-roslaunch</pre>
http://wiki.ros.org/noetic/Installation/Ubuntu


Install SMACH tools that wuill be used to create state machines
Note: An alternative method would be to install Docker with pre-installed ROS: https://hub.docker.com/_/ros


<pre>sudo apt-get install ros-kinetic-smach*</pre>


To test the installation, run in a terminal the ROS core:
To test the installation, run in a terminal the ROS core:
Line 28: Line 44:
<pre>/rosout
<pre>/rosout
/rosout_agg</pre>
/rosout_agg</pre>
You can get familiar with ROS using the tutorials for beginners available at http://wiki.ros.org/ROS/Tutorials.
Get familiar with catkin workspaces, which will allow you to build a ROS node in the future. Moreover, get familiar on how to run a ros node.
If you already [[ RoPod/Tutorials/Configuring GitHub | cloned the ropod-project-software]]  in your home directory, teh next step is to install the software dependencies, i.e. non standard packages and third party software:
=Install Dependencies =
First, make sure your system is up-to-date:
    sudo apt-get update
    sudo apt-get upgrade
'''ROS navigation'''
    sudo apt-get install ros-kinetic-navigation
'''tf2 bullet'''
    sudo apt-get install ros-kinetic-tf2-bullet
'''autoconf'''
    sudo apt-get install autoconf
'''libyaml'''
    sudo apt-get install libyaml-cpp-dev
'''Zyre'''
Follow instructions for **master** branches: https://github.com/zeromq/zyre
At the moment of writing (Oct, 2017), those correspond to:
* libsodium 1.0.15
* libzmq 4.2.2
* czmq 4.0.2
* zyre 2.0.0
    git clone --depth 1 -b stable https://github.com/jedisct1/libsodium.git
    cd libsodium
    ./autogen.sh && ./configure && make check
    sudo make install
    cd ..
    git clone git://github.com/zeromq/libzmq.git
    cd libzmq
    ./autogen.sh
    # do not specify "--with-libsodium" if you prefer to use internal tweetnacl
    # security implementation (recommended for development)
    ./configure --with-libsodium
    make check
    sudo make install
    sudo ldconfig
    cd ..
    git clone git://github.com/zeromq/czmq.git
    cd czmq
    ./autogen.sh && ./configure && make check
    sudo make install
    sudo ldconfig
    cd ..
    git clone git://github.com/zeromq/zyre.git
    cd zyre
    ./autogen.sh && ./configure && make check
    sudo make install
    sudo ldconfig
    cd ..
'''JSONCPP'''
  apt-get install libjsoncpp-dev
= Compile Software =
After installing the dependencies, then you should be able to compile the software now:
<pre>
cd ~/ropod-project-software/catkin_workspace
catkin_make
</pre>
In the next part of the tutorial we are going to see how [[ RoPod/Tutorials/Matlab and a ROS node interface | Matlab and ROS can communicate]].

Latest revision as of 13:58, 15 February 2023

Get familiar with ROS

The Robot Operating System (ROS) is a framework for writing robot software. ROS uses concepts like nodes, topics, messages, etc. Get familiar with them by searching on the web. You can start reading at: http://wiki.ros.org/ROS/Concepts

Install basic set of packages

sudo apt-get -y update && apt-get install -y \
	nano \
	vim \
	git \
	mercurial \
	cmake \
	build-essential \
	automake \
	libtool \
	libtool-bin \
	pkg-config \
	wget \
	curl \
	unzip \
	libjsoncpp-dev

Install ROS

ROS have several distributions (versions). Install ROS Noetic distribution, which is the one compatible with Ubuntu 20.04. Follow the instructions on this webpage. Install the Desktop-Full version. Make sure you follow at least steps 1.1-1.6 in the webpage.

http://wiki.ros.org/noetic/Installation/Ubuntu

Note: An alternative method would be to install Docker with pre-installed ROS: https://hub.docker.com/_/ros


To test the installation, run in a terminal the ROS core: 

roscore

Then in another terminal you can type: 

rostopic list

You should be able to see at least the following: 

/rosout
/rosout_agg
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