OrangePi Zero3: How to install ROS 2 Humble on Ubuntu 22.04

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

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Chapter 3 contents

3.31.3. How to install ROS 2 Humble on Ubuntu 22.04

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

orangepi@orangepi:~$ install_ros.sh ros2

2) 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.

3) 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]

4) Run the following command to open rviz2

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

Img 3.262

5) Reference documents

http://docs.ros.org/en/humble/index.html http://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

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