OrangePi Zero3: How to install ROS 2 Galactic on Ubuntu 20.04

RU EN

Chapt 3. Instructions for use of Debian/Ubuntu Server and Xfce desktop system

Страница: 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122

Chapter 3 contents

3.31.2. How to install ROS 2 Galactic on Ubuntu 20.04

1) The currently active version of ROS 2 is shown below, and the recommended version is GalacticGeochelone

Img 3.259

Img 3.260

http://docs.ros.org http://docs.ros.org/en/galactic/Releases.html

2) The link to the official ROS 2 Galactic Geochelone installation documentation is as follows docs.ros.org/en/galactic/Installation.html http://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

3) In the official ROS 2 GalacticGeochelone installation document, Ubuntu Linux recommends using Ubuntu 20.04, so please make sure that the system used by the development board is the Ubuntu 20.04 desktop system. There are several ways to install ROS 2. The following demonstrates how to install ROS 2 GalacticGeochelone

through Debian packages.

4) Ros2 can be installed using the install_ros.sh script

orangepi@orangepi:~$ install_ros.sh ros2

5) The install_ros.sh script will automatically run the ros2 -h command after installing ros2. If you can see the following print, it means that the ros2 installation is complete


usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2 is an extensible command-line tool for ROS 2
optional arguments:
-h, --help show this help message and exit
Commands:
action Various action related sub-commands
bag Various rosbag related sub-commands
component Various component related sub-commands
daemon Various daemon related sub-commands
doctor Check ROS setup and other potential issues
interface Show information about ROS interfaces
launch Run a launch file
lifecycle Various lifecycle related sub-commands
multicast Various multicast related sub-commands
node Various node related sub-commands
param Various param related sub-commands
pkg Various package related sub-commands
run Run a package specific executable
security Various security related sub-commands
service Various service related sub-commands
topic Various topic related sub-commands
wtf Use `wtf` as alias to `doctor`
 Call `ros2 <command> -h` for more detailed usage.

6) Then you can use the test_ros.sh script to test whether ROS 2 is installed successfully.

If you can see the following print, it means that ROS 2 can run normally

orangepi@orangepi:~$ test_ros.sh
[INFO] [1671174101.200091527] [talker]: Publishing: 'Hello World: 1'
[INFO] [1671174101.235661048] [listener]: I heard: [Hello World: 1]
[INFO] [1671174102.199572327] [talker]: Publishing: 'Hello World: 2'
[INFO] [1671174102.204196299] [listener]: I heard: [Hello World: 2]
[INFO] [1671174103.199580322] [talker]: Publishing: 'Hello World: 3'
[INFO] [1671174103.204019965] [listener]: I heard: [Hello World: 3]

7) Run the following command to open rviz2

orangepi@orangepi:~$ source /opt/ros/galactic/setup.bash
orangepi@orangepi:~$ ros2 run rviz2 rviz2

Img 3.261

8) For how to use ROS, please refer to the documentation of ROS 2

http://docs.ros.org/en/galactic/Tutorials.html

< >