Step 1: System Setup for Installing ROS2 Iron (Ubuntu 22)

2.48. Step 1: System Setup for Installing ROS2 Iron (Ubuntu 22)#

2.49. Setting Your Locale#

Start by opening a terminal window

image.png

In your terminal window, enter the command:

locale

and look for anything that says “UTF-8” For example: image.png

If your locale is not set to UTF-8, run the following commands:

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

After running them, run locale again to make sure that your locale is in UTF-8

2.50. Enable Required Repositories#

In your terminal, run the following commands:

sudo apt install software-properties-common
sudo add-apt-repository universe

2.51. Add the ROS2 GPG Key#

In your terminal, run the following commands:

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

2.52. Add the Repository to your Sources List#

In your terminal, run the following command:

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

2.53. (Optional Step) Install development Tools#

This step is for if you want development tools for ROS2, highly recommended to install.

In your terminal, run the following command:

sudo apt update && sudo apt install ros-dev-tools

2.54. Installing ROS2 Iron#

Start by updating and upgrading apt. Run the following commands in your terminal:

sudo apt update
sudo apt upgrade

Next, decide which version of ROS2 Iron you would like to install. The standard version is the desktop verison, which you can install via the following command:

sudo apt install ros-iron-desktop

However, if you want to install the barebones version of ROS2 Iron, run the following command:

sudo apt install ros-iron-ros-base

After installing, to setup the environment, run the command:

source /opt/ros/iron/setup.bash

NOTE: If you are not using bash as your shell, replace .bash with your shell extension (i.e. .sh, .zsh, etc)

2.55. Testing your installation#

Open up two terminals. In the first terminal, enter the following commands:

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

You should see the following start to appear: image.png

In your other terminal, enter the following commands:

source /opt/ros/iron/setup.bash
ros2 run demo_nodes_cpp listnener

And it should start reading the output of the previous terminal: image.png

If this is the case, you have successfully installed ROS2 Iron!

2.56. Step 2: Setting up Turtle Interfaces#

First thing, we have to set up the packages for Python Turtle.

Open up an Ubuntu terminal, and enter the following commands:

cd ~/Robotics_Middleware_Trial_Python_Turtle/ROS2/dev_ws/src
source /opt/ros/iron/setup.bash
ros2 pkg create --build-type ament_python python_turtle

This will create a package called python_turtle. Next we want to do the same thing for turtle interfaces. In the same terminal, run the following command:

ros2 pkg create --build-type ament_cmake turtle_interfaces

Navigate to the newly created turtle_interfaces directory. In that directory, create a folder called msg and within that folder, creat a file named Turtlemsg.msg In the Turtlemsg.msg file, enter the following text:

string name
geometry_msgs/Pose turtle_pose
string color

Back in the turtle_interfaces directory, open the CMakeLists.txt file and locate the line that says ament_package(). Above that line, enter the following text:

find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Turtlemsg.msg"
  "srv/Setpose.srv"
  "srv/Setcolor.srv"
  DEPENDENCIES geometry_msgs
)

Save and exit the CMakeLists.txt file and locate the package.xml file. Within that file, locate the liens at the bottom of the file that say:

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

Above those lines, enter the following:

  <build_depend>rosidl_default_generators</build_depend>
  <depend>geometry_msgs</depend>

  <exec_depend>rosidl_default_runtime</exec_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>

Save and exit the package.xml file. Locate the srv directory, and enter it. Under it, create two files: Setpose.srv and Setcolor.srv

Under Setpose.srv add the following lines:

gemoetry_msgs/PoseStamped turtle_pose
---
int8 ret

Save and exit the file. Under Setcolor.srv add the following lines:

string color
---
int8 ret

Save and exit the file.

Next, navigate back to the dev_ws directory. Enter the following command in your terminal:

pip install setuptools==58.2.0

Run the following command to build the packages:

colcon build

Once the build is done, run the following commands:

find . -type f -exec sed -i 's/script-dir/script_dir/g' {} +
find . -type f -exec sed -i 's/install-scripts/install_scripts/g' {} +

And rerun the last command:

colcon build
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