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ROS 1 Noetic Ninjemys

Installation

sudo apt update
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl -y
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full -y
source /opt/ros/noetic/setup.bash
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y
sudo rosdep init
rosdep update

See https://wiki.ros.org/noetic/Installation/Ubuntu for further details on the ROS installation instructions.

In order to test if the installation was successful, run the following code:

source /opt/ros/noetic/setup.bash
roslaunch roscpp_tutorials talker_listener.launch

Configuration of the ROS Environment

source /opt/ros/noetic/setup.bash

mkdir ~/ros1_ws/src -p

cd ~/ros1_ws/src/
catkin_init_workspace .

cd ..
catkin_make --force-cmake -DCMAKE_BUILD_TYPE=<Debug|Release|RelWithDebInfo|MinSizeRel>

source devel/setup.bash

cat <<EOF >> ~/.bashrc

## ROBOT OPERATING SYSTEM (ROS) 1 NOETIC
wsros1dir()
{
  source devel/setup.bash
}
alias wsros1='source /opt/ros/noetic/setup.bash && source ${HOME}/ros1_ws/devel/setup.bash'
EOF

Network Setup

Tip

Use ZeroTier (see Remote Access) to create a private network link between your computer and the robots' computing units.

Requirements

  • IP address of your computer
  • IP address of the robot's computing unit

Tip

Ideally, both IP addresses should remain static (another advantage of using ZeroTier for that effect).

How To

  1. Add your IP address and hostname to the /etc/hosts file in robot's computing unit 
    user@discoveryq2:~$ cat /etc/hosts
127.0.0.1           localhost
127.0.1.1           <ROBOT HOSTNAME>
<YOUR IP ADDRESS>   <YOUR HOSTNAME>
...
  2. Add the robot's computing unit IP address and hostname to the /etc/hosts file in your computer 
    <YOUR USERNAME>@<YOUR HOSTNAME>:~$ cat /etc/hosts
127.0.0.1           localhost
127.0.1.1           <YOUR HOSTNAME>
<ROBOT ADDRESS>     <ROBOT HOSTNAME>
...
  3. Test if the naming resolve setup is working correctly 
    user@discoveryq2:~$ ping <YOUR HOSTNAME>

    <YOUR USERNAME>@<YOUR HOSTNAME>:~$ ping <ROBOT HOSTNAME>
  4. Launch nodes in the robot's local computing unit
  5. Execute the following commands in your computer 
    export ROS_MASTER_URI=http://<ROBOT HOSTNAME>:11311
rosnode list
  6. Now, you can remotely execute additional nodes such as rviz to see data published by nodes running on the robot, debug, among other use cases

More information available in https://wiki.ros.org/ROS/NetworkSetup.