RoPod/Tutorials/ROS installation: Difference between revisions

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<div style="width: 40%; float: right;"><center>{{:RoPod_Table_Menu}}</center></div>
<div style="width: 40%; float: right;"><center>{{:RoPod_Table_Menu}}</center></div>


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<div style="float: left; width:60%">
=Get familiar with ROS =
=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 basic set of packages =  
=Install basic set of packages=  


<pre>sudo apt-get -y update && apt-get install -y \
<pre>sudo apt-get -y update && apt-get install -y \
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libjsoncpp-dev</pre>
libjsoncpp-dev</pre>


=Install ROS =
=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 1.1-1.7 in the webpage .
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
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:
To test the installation, run in a terminal the ROS core:
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<pre>/rosout
<pre>/rosout
/rosout_agg</pre>
/rosout_agg</pre>
= Follow basic tutorials for ROS =
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.
Clone the main repository with the .rosinstall containing the tree structure of the whole software.
    git clone https://github.com/tue-ropod/tree-devpc.git
Switch to feature/tracking branck.
    cd tree-devpc
    git checkout feature/remove_ed_dependency
Open the .rosinstall from the shell just to inspect it.
    gedit .rosinstall
This file is a compilation of other repositories that need to be setup and all together compose the ROPOD software. You can now close it and run the installation script. It will install all the different repositories in your home directory. To install run:
    ./install_software
The ./install_software command makes some changes to your .bashrc file. In order for these changes to take effect, you need to close your terminal and open a new one (if using Terminator, fully close it and open a new instance).
Take a look at the structure of Ropod-repository. All packages were now placed in the ~/ropod-project-software/catkin_workspace/src folder. This folder contains 3 other folders:
* functionalities: Here, all non-standard ros-packages are placed, such as ED, but also packages for localization, navigation, etc.
* platform: Files corresponding to specific platforms located in this folder, while general files for getting the communication with the sensors to work is placed in the robot_common sub-folder
* applications: In order to configure the robot for specific use-cases, all the relevant files are placed here.
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]].
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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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