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Authored by avatar Bruno Areias

Ubuntu ros-base (ROS-2)

This bash script was built to facilitate the installation of the ros-base package.

The script executes the following tasks:

  • update the adjacent OS
  • add the Ubuntu ROS repository to the system
  • Install the ros-base package
  • Prepare the env variables to load ROS2 commands

Installation Guide

wget -O ros2-base_install.sh https://code.nap.av.it.pt/snippets/10/raw
chmod u+x ros2-base_install.sh
./ros2-base_install.sh

Basics of ROS2:

List Queues

ros2 topic list

List type of messages

ros2 msg list

Listener

ros2 topic echo <TopicName>

Publisher

ros2 topic pub --node-name tester --rate 2 <TopicName> std_msgs/String "data: <Your String>"

Remember that, by default, even two distinct machines using ROS2 would see each other due to the Built-in Discovery Mechanism from ROS2.

Examples:

For better examples please install the "DESKTOP" package, within the folder "/opt/ros/crystal/" there will be some examples. As of 20190220, the best option to start integrating your projects with ROS 2 would be using C++ with rclcpp library which is already available with the ROS2 "BASE" package, however, Python3 with rclpy library is still a good option but it does not fully fledged support.

Edited
ros2-base_install.sh 1.16 KiB
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#!/bin/bash

# NOTE: Out of container env, commands require SUDO and are marked as such

# Make sure your system is up to date!
apt-get update # sudo
apt-get full-upgrade -y # sudo

# Properly configure the LOCALE variables
locale-gen en_US en_US.UTF-8 # sudo
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 # sudo
export LANG=en_US.UTF-8

# Install required packages to support ROS-2
apt-get install curl gnupg2 lsb-release -y # sudo

# Add ROS-2 repository to your system
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' # sudo

# Update your apt package database and install the lastest ROS2 release
# At the writing of this script (20190220) crystal is the lastest ROS2 release
apt-get update # sudo
apt-get install ros-crystal-ros-base python3-argcomplete -y # sudo ## There is also "ros-crystal-desktop".

# Create seperate bashrc file for ROS commands/sources
cp ~/.bashrc ~/.bash_ros2
echo "" > ~/.bash_ros2
echo "source ~/.bash_ros2" >> ~/.bashrc
echo "source /opt/ros/crystal/setup.bash" >> ~/.bash_ros2
source ~/.bash_ros2
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