ROS

ROS Projects

https://youtu.be/9vbJYU0qqGM?t=110

https://youtu.be/CpiRapGenLE

https://youtu.be/4UwONrgyy0c

Installation Steps

1. 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'

2. Set up your keys.

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. Make sure your Debian package index is up-to-date.

sudo apt update

4. Installing the ROS recommended configuration.

sudo apt install ros-melodic-desktop-full

Config Steps

1. Adding environment variables: To Automatically add ROS environment variables to your bash session every time a new shell (terminal) is launched, enter the following commands (this step is similar as adding environmental variable in windows):

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

2. 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.

sudo apt install python-rosdep
sudo rosdep init
rosdep update

More packages to install

Catkin Tools

sudo apt-get install ros-melodic-catkin python-catkin-tools

std_msg package

sudo apt install ros-melodic-std-msgs

turtlesim

sudo apt-get install ros-melodic-ros-tutorials

Gmapping package: ​

sudo apt-get install ros-melodic-gmapping

Teleop keyboard package: (Ignore if already installed)

sudo apt-get install ros-melodic-teleop-twist-keyboard

Navigation package: ​

sudo apt-get install ros-melodic-navigation

Tf2 package:

sudo apt-get install ros-melodic-tf2-sensor-msgs

AMCL package: ​

sudo apt-get install ros-melodic-amcl

Map server package:

sudo apt-get install ros-melodic-map-server

MoveIt

sudo apt install ros-melodic-moveit

MoveIt ROS planning

sudo apt install ros-melodic-moveit-ros-planning

ROS Control

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

Create Catkin WS

cd ~/
mkdir --parents catkin_ws/src
cd catkin_ws
catkin init
cd ~/catkin_ws
catkin build or catkin_make

Create Pkg

cd to Ws
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
catkin build or catkin_make

Create and edit node

touch node_hello_ros.py (create)
gedit node_hello_ros.py (edit)
#!/usr/bin/env python (first line)