[ROS]run DR robot in ROS - installing note1

ROS-related files and other pre-run checks

❌ 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:

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

# 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

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

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

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:

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

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

3. 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

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

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

-- 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

📚 Reference

• Setting ROS by use Docker in Mac/Ubuntu

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

Mac에서 Docker를 사용한 ROS 개발환경 세팅

ROS에 대한 환경 설정 방법을 알아보자

https://velog.io/@addps5012/Docker를-사용한-ROS-개발환경-세팅

• DR Open-source

GitHub - doosan-robotics/doosan-robot: ROS for Doosan Robot

ROS for Doosan Robot. Contribute to doosan-robotics/doosan-robot development by creating an account on GitHub.

https://github.com/doosan-robotics/doosan-robot?tab=readme-ov-file

• Install ROS by use VS2019 & Choco package manager

Installation/Windows - 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

http://wiki.ros.org/Installation/Windows

윈도우 10에 ROS 설치하기

해당 글은 아래의 문서를 보고 따라 한 내용이다. 1. c:\opt 폴더 생성 c 드라이브에 opt 폴더를 만들어준...

https://blog.naver.com/chandong83/222439693537