Installation and Familiarization of ROS2

Ubuntu (20.04)

Download ROS2 with Debian Packages

• Desktop download takes 20+ minutes
• Done through the terminal
• Everytime the system is closed and restarted, must source

source /opt/ros/foxy/setup.bash

Tutorials

#2 Introducing Turtlesim, Command Line Interface (CLI) and RQt

• Install Terminator

sudo install apt terminator

• rqt rqt in terminal (plugins)

#3 Understanding ROS2 Packages and Workspace

• A ROS2 package is a container for ROS2 code
• ROS2 workspace contains ROS2 packages

How to build a package:

• Make new folder "ros2_ws"
• Make new folder in ros2_ws called "src"
• In terminal CMake Python

colcon build (Search colcon command not found for more info)**

source install /setup.bash

To run executables: ros2 run "executable"

#4 Understanding ROS2 Executables and Nodes

Remember to always source ROS2 before anything in terminal or Terminator source /opt/ros/foxy/setup.bash

To see executables that you can run a package: ros2 pkg executables "packageName"

To run the executable in a package: ros2 run "packageName" "executableName"

Different turtlesim executables:

• turtlesim_node (displays window)
• turtlesim_teleop_key (can move the turtle around the window using keyboard controls)
• draw_square (has the turtle draw a square)

To get info/list nodes:

ros2 node info /"nodeName" node

ros2 node list