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Chapter-02-Environment-Setup.md

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Chapter 2. Environment Setup

In this chapter, we are going to setup the Humble Version of ROS2 and VS Code in our Ubuntu 20.04 LTS OS.

It is assumed/expected that you already have Ubuntu 22.04 LTS or any later version of the OS installed on your computer and are familiar with the basic Terminal Commands of Ubuntu.

Installing ROS2 Humble on Ubuntu OS:

  1. Open Terminal : Shortcut for opening terminal is (Ctrl + Alt + T)

  2. Right Click on the Terminal icon → Select “Add to Favorites” → So that we can access it easily in the future.

  3. Run sudo apt update

  4. Install Tilix → Run sudo apt install tilix → Hit Y → Enter.

  5. Configure Tilix → Open Tilix Terminal → Click on the 3-line-button beside search button at the top of Tilix Terminal Window → Select Preferences → Go to Default Tab → Go to Command Tab → Check “Run the command as a login shell” → You can go to Color tab and do some design customizations of your own for the terminal.

  6. Close all the terminals.

  7. Reopen Tilix Terminal. You can add more terminals using the “Add terminal right” & “Add terminal down” buttons at the top-left of Tilix Terminal Window.

  8. Go to the ROS2 Humble Offical Documentation Site.

  9. Click on Installation → Click on “Debian Packages” under “Ubuntu Linux - Jammy Jellyfish (22.04)”. The steps below are borrowed from the Ubuntu (Debian) page.

  10. Set Locale : Run the following commands on Tilix terminal one by one.

    locale  # check for UTF-8

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

locale  # verify settings

  11. Troubleshooting For Future: (https://www.debugpoint.com/failed-connect-raw-githubusercontent-com-port-443/)

    • Run sudo nano /etc/hosts

    • Then at the end of this file, add the IP address: 185.199.108.133 raw.githubusercontent.com

    Untitled

    Save and close the file.

  12. Setup Sources: Run the following commands on Tilix terminal one by one.

    sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl

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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  13. Install ROS 2 Packages: Run the following commands on Tilix terminal one by one.

    sudo apt update
sudo apt upgrade

#If you get any problem on running the above command.
#Try running "sudo dpkg --configure -a" to troubleshoot.
#Run "sudo apt upgrade" again.

    • Desktop Install (Recommended) - Used : ROS, RViz, demos, tutorials:

      sudo apt install ros-humble-desktop

    • ROS-Base Install (Bare Bones) - Not Used: Communication libraries, message packages, command line tools. No GUI tools.

      sudo apt install ros-humble-ros-base

    • Development tools - Not Used: Compilers and other tools to build ROS packages

      sudo apt install ros-dev-tools

    Go with the Desktop Install (Recommended).

    ROS2 Humble is now successfully installed on your system.

    Cheers !

  14. Environment Setup (Sourcing the script): You need to run this command everytime you open a new terminal to use ROS 2 on it.

    source /opt/ros/humble/setup.bash

# You need to run this command everytime you open a new terminal to use Ros2 on it.
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh

  15. Try some commands to see if its working:

    To check if you installed ros-humble-desktop correctly as instructed above, you can try below commands.

    In one terminal, source the setup file and then run a C++ talker:

    source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker

    In another terminal source the setup file and then run a Python listener :

    source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener

    You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly.

    Hooray!

  16. Automating the source /opt/ros/humble/setup.bash Command:
    Go to Tutorials page of ROS2 Humble Documentation → Under Beginner: CLI tools, click on Configuring environment → Scroll down to Add sourcing to your shell startup script section → Execute the below given command in a Terminal for one time → And now, you wont have to run the command source /opt/ros/humble/setup.bash - every time you open a new terminal - - for using ROS 2 - ever again !

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

  17. To check the version of ROS installed - on Terminal - run the below command:

    printenv | grep -i ROS

  18. Uninstall:

    sudo apt remove ~nros-humble-* && sudo apt autoremove

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove

sudo apt upgrade

Installing VS Code on Ubuntu OS:

  1. Install VS Code from Ubuntu Software Center.

  2. Install VS Code Extensions:

    • C/C++ Extension Pack by Microsoft.
    • Python Extension Pack by Don Jayamanne.
    • ROS by Microsoft.
    • Code Runner by Jun Huan

  3. Click on Manage Gear Icon at the left bottom corner of VS Code Window → Settings → Extend the tab Extensions → Click on ROS (Under Extensions) → Write humble in the box under Ros: Distro

Setting Up C++ Environment on Ubuntu OS:

  1. First, check to see whether GCC is already installed on your Ubuntu system. To verify, open a Terminal window and enter the following command:

    gcc -v

  2. If GCC isn't installed, run the following command from the terminal window to update the Ubuntu package lists. An out-of-date Linux distribution can sometimes interfere with attempts to install new packages.

    sudo apt update

    sudo apt upgrade

  3. Next install the GNU Compiler Tools and the GDB Debugger with this command:

    sudo apt-get install build-essential gdb

Setting Up Python Environment on Ubuntu OS:

You can download the Python package from the official Ubuntu repository. Here's how to do it:

  1. Open up your terminal by pressing Ctrl + Alt + T.

  2. Upgrade and update Ubuntu to the latest version

    sudo apt update && sudo apt upgrade

  3. Download and Install the latest version of Python:

    sudo apt install python3

  4. To check if python is successfully installed in your system, run the given command from any terminal:

    python3 --version