ROS2 Notes

These are personal notes for working with the second version of the Robot Operating System. Notes reported here are mainly valid for the humble version of ROS that’s compatible with Ubuntu 22.04 LTS. For further information follow the official documentation.

• CLI Tools
• Workspaces and Packages
  • Workspaces
  • Package creation
  • Launch files
• Simulation Setup
  • Node description
  • Launch file
• Gazebo Simulator
  • Installation

Installation

For more informations and instructions to install on different platforms, refer to the official installation documentation.

The following are shorthand instructions for installing ROS2 on Ubuntu 22.04 LTS based on Debian packages.

Note

First make sure that your locale supports UTF-8. In generally this holds, but see here for more information.

The following commands will enable the Ubuntu Universe repository, add teh ROS2 GPG kye and add the ROS2 apt repository to your sources list.

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Before installing new packages it’s suggested to update package list and upgrade already installed packages (to ensure dependencies are met):

sudo apt update && sudo apt upgrade -y

The following command will install all relevant packages for starting in ROS2:

sudo apt install ros-humble-desktop -y