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ROS_Setup.md

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Instructions to set up ROS2 + Gazebo + Turtlebot3

Instructions to setup your environment is divided into following broad sections:

  1. Setting up the environment itself (installing Ubuntu 22 or equivalent)
  2. Setting up ROS2 (we recommend using Humble)
  3. Setting up Turtlebot3 and its other packages

Setting up Your environment

Recommended

We recommend using Ubuntu 22 - you do not need to remove Windows. You can dual boot Ubuntu 22.04 by following these instructions. You can download the Ubuntu 22 Desktop image from here.

Alternative (using Windows Subsystem for Linux)

This approach uses Windows Subsystem for Linux to run any Linux distro on your Windows machine itself.

Open PowerShell on your Windows machine and run

dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart

Open PowerShell with administrative privileges. Enter the following command and press Enter:

Get-WindowsOptionalFeature -Online | Where-Object {$_.FeatureName -eq "VirtualMachinePlatform"}

If WSL 2 is enabled, you’ll see output similar to:

FeatureName : VirtualMachinePlatform

Or, you can simply go to ‘Turn Windows features on or off‘ in your Windows settings to verify if the Windows Subsystem for Linux is enabled.

To install Ubuntu 22

wsl --update
wsl --list --online

Then install Ubuntu 22.04

wsl --install -d Ubuntu-22.04

Upon installation, follow the instructions and create a username and password for your Ubuntu install. You can now launch Ubuntu via simply searching in start menu or from Windows Terminal.

Alternative (using docker and distrobox to get Ubuntu 22)

// Least recommended - Recommended if you want to try a variety of distros and have experience with docker

Ensure Docker is installed on your Ubuntu 20.04 system. If not installed, you can install it using: (If on a debian based machine)

sudo apt update
sudo apt install docker.io

Setting up distrobox:

wget -qO- https://raw.githubusercontent.com/89luca89/distrobox/main/install | sudo sh

distrobox create --image ubuntu:22.04 --name ubuntu22


distrobox enter ubuntu22

Setting up ROS2

We recommend using ROS2 Humble

Steps to install ROS2 Humble on Ubuntu 22 here

Make sure to do Full Desktop install: sudo apt install ros-humble-desktop-full

Installing Gazebo (Not required separately if you have installed ros-humble-desktop-full)

To verify, use this command:

gazebo --version

If you are able to see the version, Gazebo is installed.

It is highly recommended to go through all tutorials on ROS2's website as that will give a very good grasp on what is ROS and how does it work.

Setting up Turtlebot3

(NOTE: Change kinetic to humble if you follow the instructions in these links)

Ensure you go through turtlebot's normal setup instructions before following the below. Also do build the package from source as shown in drop down on the website as it will prevent a lot of errors.

Next follow turtlebot3's Setup manual

We will be using the waffle_pi model.

Alternatively

You can run the following script in your terminal window. This will setup ROS2, Gazebo and Turtlebot for you completely. Instructions to use the script.

Automation task package

Clone this repository in to your machine or ros workspace.

cd ~/ros_ws/src/

git clone https://github.com/ERC-BPGC/ERC-hackathon-2024.git

The ROS package hackathon_automation contains all the files required for this task
This completes the environment setup for the automation task.

Make sure you have all environment variables in your .bashrc and have sourced the file. source ~/.bashrc. You can check that it is configured properly by making sure that these lines are available.

You can create a symlink for hackathon_automation in your workspace.

First build the workspace

colcon build

Then Launch the Gazebo world by entering

ros2 launch hackathon_automation robo.launch.py

This completes the environment setup for the autonmation task.