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tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2019/09/29 18:52]
amora
tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2019/10/10 14:01]
amora
Line 1: Line 1:
-====== Installing ROS melodic ​inside a Ubuntu Bionic chroot ======+====== Installing ROS Melodic & ROS Dashing ​inside a Ubuntu Bionic chroot ======
  
   * Install Ubuntu inside a chroot. Follow guide from [[tutorials:​ubuntu_bionic_chroot|here]]   * Install Ubuntu inside a chroot. Follow guide from [[tutorials:​ubuntu_bionic_chroot|here]]
Line 14: Line 14:
  
   deb http://​mirrors.ucr.ac.cr/​ubuntu bionic main universe restricted multiverse   deb http://​mirrors.ucr.ac.cr/​ubuntu bionic main universe restricted multiverse
 +  deb http://​mirrors.ucr.ac.cr/​ubuntu bionic-updates main universe restricted multiverse
   deb http://​mirrors.ucr.ac.cr/​ubuntu bionic-backports main restricted multiverse   deb http://​mirrors.ucr.ac.cr/​ubuntu bionic-backports main restricted multiverse
  
   * Update repos   * Update repos
  
-  apt-get update+  ​apt-get update
  
   * Install the following packages:   * Install the following packages:
  
-  apt-get install sudo mc emacs curl lsb_release gpgpg2 ​apt-file+  ​apt-get install sudo mc nano curl lsb-release gnupg2 ​apt-utils bash-completion locales
  
-  * Add your user to sudo+  * Add a new user in the chroot
  
-  adduser ​_youruser_ ​sudo+  ​adduser ​user 
 + 
 +  * Add your new user to sudo group 
 + 
 +  $ adduser user sudo
  
   * Fix sudo error with visudo:   * Fix sudo error with visudo:
  
-  visudo+  ​visudo
  
   %sudo   ​ALL=(ALL:​ALL) NOPASSWD:​ALL   %sudo   ​ALL=(ALL:​ALL) NOPASSWD:​ALL
  
-  * Follow guide from ROS: [[http://​wiki.ros.org/​melodic/​Installation/​Ubuntu]]+  ​* From now on, use your new user for the following steps: 
 + 
 +  $ su user 
 + 
 +  ​* Follow guide for ROS Melodic ​from ROS: [[http://​wiki.ros.org/​melodic/​Installation/​Ubuntu]] 
 +  * Follow guide for ROS Dashing from ROS: [[https://​index.ros.org/​doc/​ros2/​Installation/​Dashing/​Linux-Install-Debians/​]] 
 + 
 +===== Creating ROS Melodic Workspace ===== 
 + 
 +Since ROS Hydro (ROS 1), ROS use [[wiki.ros.org/​catkin/​workspaces|Catkin]] for building all packages. The following links shows the basic steps for creating a Catkin Workspace. 
 + 
 +  * [[http://​wiki.ros.org/​catkin/​Tutorials/​create_a_workspace|Create a workspace]] 
 + 
 +After creating the workspace, build a basic package for testing purposes. 
 + 
 +  * [[http://​wiki.ros.org/​catkin/​Tutorials/​CreatingPackage|Create a ROS package]] 
 +  * [[http://​wiki.ros.org/​ROS/​Tutorials/​WritingPublisherSubscriber%28python%29|Writing a simple node in Python]] 
 +  * [[http://​wiki.ros.org/​ROS/​Tutorials/​ExaminingPublisherSubscriber|Running the simple node]] 
 + 
 +===== Creating ROS Dashing Workspace ===== 
 + 
 +Since ROS Crystal (ROS 2) to newer versions, ROS use [[https://​colcon.readthedocs.io/​en/​released/​|Colcon]] for building all packages. This guide shows the basic steps for creating a Colcon Workspace. 
 + 
 +  * Source ROS 2 configuration 
 + 
 +  $ source /​opt/​ros/​dashing/​setup.bash 
 + 
 +  * Install colcon 
 + 
 +  $ sudo apt install python3-colcon-common-extensions 
 + 
 +  * Create workspace for ROS 2 
 + 
 +  $ mkdir -p ~/​ros2_ws/​src 
 + 
 +  * Move to the new workspace and build it 
 + 
 +  $ cd ~/ros2_ws 
 +  $ colcon build 
 + 
 +  * Source workspace configuration 
 + 
 +  $ source ~/​ros2_ws/​install/​local_setup.bash && source ~/​ros2_ws/​install/​setup.bash 
 + 
 +After creating the workspace, lets build some examples packages for ROS 2. 
 + 
 +  * Clone ROS 2 examples package repository in our workspace 
 + 
 +  $ cd ~/​ros2_ws/​src 
 +  $ git clone git clone https://​github.com/​ros2/​examples 
 +  $ git checkout $ROS_DISTRO 
 + 
 +  * Build examples package 
 + 
 +  $ cd ~/ros2_ws 
 +  $ colcon build --symlink-install
  
 +  * Test builded package. Remember to run each command on different terminals and source ROS 2 configuration on each terminal.
  
 +  $ ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function
 +  $ ros2 run examples_rclcpp_minimal_publisher publisher_member_function
 + 
  • tutorials/installing_ros_melodic_inside_ubuntu_bionic_chroot.txt
  • Last modified: 2019/10/10 14:01
  • by amora