[ROS]run DR robot in ROS - installing note1

Installation history to run DR robot in ROS

Feb 21, 2024

[ROS]run DR robot in ROS - installing note1

Contents

❌ Installing ROS noetic / ROS2 foxy via Docker on Ubuntu 22.04 / Mac M2 Setup your sources.list Set up your keys Installation Environment setup Dependencies for building packages ❌ Window 10 - Install ROS by use VS2019 & Choco package manager 📚 Reference

DR source required

ros-noetic && Ubuntu 20.04 version

ros2-foxy&& Ubuntu 20.04 version

ROS-related files and other pre-run checks

apt upgrade → Avoid using the ROS version because it is fixed

apt update updates the list of packages to the latest, and apt upgrade upgrades the packages currently installed on your system to the latest version. It is usually a good habit of managing packages to perform an upgrade after an update.

source ~/catkin_ws/devel/setup.bash → The source ~/catkin_ws/devel/setup.bash command is used to execute the contents of the setup.bash script in your ROS workspace (catkin_ws). This command is typically run in your terminal to set up the environment variables and paths required for ROS to work with the packages and executables in your workspace.

roscore → Start ros package

❌ Installing ROS noetic / ROS2 foxy via Docker on Ubuntu 22.04 / Mac M2

This way can run ROS, but cannot run DR source. Beacuse DR source required ros-noetic && Ubuntu 20.04 version. So for this reason, I have to find out the other way to run DR source.

Prerequisite:

Docker & Docker destktop(If u want)

If your OS is a Ubuntu, pls follow this guideline

noetic/Installation/Ubuntu - ROS Wiki

The ROS Wiki is for ROS 1. Are you using ROS 2 (Humble, Iron, or Rolling)? Check out the ROS 2 Project DocumentationPackage specific documentation can be found on index.ros.org

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

Setup your sources.list

Setup your computer to accept software from packages.ros.org.


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

Set up your keys

sudo apt install curl # if you haven't already installed curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date:

sudo apt update

Now pick how much of ROS you would like to install.

Desktop-Full Install: (Recommended) : Everything in Desktop plus 2D/3D simulators and 2D/3D perception packages

sudo apt install ros-noetic-desktop-full

Environment setup

You must source this script in every bash terminal you use ROS in.


source /opt/ros/noetic/setup.bash

It can be convenient to automatically source this script every time a new shell is launched. These commands will do that for you.

Bash

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.


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

zsh


echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:


sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows.


sudo apt install python3-rosdep

With the following, you can initialize rosdep.


sudo rosdep init
rosdep update

Load Docker image from hub

Docker hub

https://hub.docker.com/_/ros/ → ROS docker images hub

https://hub.docker.com/r/i386/ubuntu/tags?page=1&name=20 → Ubuntu i386 images hub


# load image
docker pull <image>
# check image
docker images

# run Image(image -> container)
# it means start and approach the container
docker run -it ros:melodic-perception-bionic

# check running containers list
docker ps

# close the container
docker stop [container ID]

# exit container
exit

When using Docker, it is important to note that the current environment is not stored. If you want to save the current environment, you must create a new image through commit to continue use. Here, the environment setting is as follows.



## Install ROS Package
# update to APT package list
apt update

# ROS Desktop
apt install ros-melodic-desktop-full

If catkin cammond got some error, try this


sudo apt-get update
sudo apt-get install python3-catkin-tools

❌ Window 10 - Install ROS by use VS2019 & Choco package manager

This way can run ROS, but I still not found reason, this way also cannot run DR source. So for this reason, I have to find out the other way to run DR source.

Prerequisite:

Reserve space for the installation

Reserve 10 GB free space under clean and enpty c:\opt before proceeding.

Install Visual Studio with C++ core using visual studio installer

Create a new shortcut for Visual Studio CMD (Anywhere on your desktop)

Install Chocolatey

Open x64 Native Tools Command Prompt for VS 2019(Admin auth)

Copy and paste


@"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

Install Git

Wait for previous command to finish

Choco install git -y

Install ROS1 noetic

Open x64 Native Tools Command Prompt for VS 2019(Admin auth)

Copy and paste


mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-noetic-desktop_full -y --execution-timeout=0

install ROS2 foxy

Also, it doesn't matter if you install both ROS1 and ROS2 as long as you can afford storage space.

If you also want to install the ROS2 foxy, follow this


mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-foxy-desktop -y --execution-timeout=0

Error

After git clone DR source in C:\opt\ros\noetic\x64\catkin_ws>src

catkin_make command got some error


-- Configuring incomplete, errors occurred!
See also "C:/opt/ros/noetic/x64/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "C:/opt/ros/noetic/x64/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed