ROS2 Humble Basics

Oct 16, 2022

Introduction

The Robot Operating System (ROS) is a set of software libraries and tools for building robot applications. Since ROS was started in 2007, a lot has changed in the robotics and ROS community. The goal of the ROS 2 project is to adapt to these changes.

Most of the setup scripts you’ll see below were written for different shells (bash, sh and zsh), so that you can run the one you prefer (based on your shell). You can figure out what’s your current shell by using this command:

echo $SHELL

Please Note: For convenience, in the snippets below I’ll always use .sh scripts (despite I personally use .zsh shell), since sh is the most common shell.

Install ROS2 on Ubuntu

The first step to start building ROS application is to add ROS 2 apt repository to your machine. Let’s make sure that the Ubuntu Universe repository is enabled:

apt-cache policy | grep universe

If you do not see an output line like the one below:

 500 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages
     release v=22.04,o=Ubuntu,a=jammy-security,n=jammy,l=Ubuntu,c=universe,b=amd64

Then, enable the Universe repository:

sudo apt install software-properties-common
sudo add-apt-repository universe

Add the ROS 2 apt repository to the system:

# authorize GPG key with apt.
sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# add the repository to your sources list.
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Update your apt repository caches after setting up the repositories. ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up-to-date before installing new packages.

sudo apt update && sudo apt upgarde

Ubuntu (Debian)

You can choose your preferred installation:

# Desktop Install (Recommended): ROS, RViz, demos, tutorials
sudo apt install ros-humble-desktop

# or ROS-Base Install (Bare Bones): communication libraries, message packages, command line tools (no GUIs)
sudo apt install ros-humble-ros-base

Since there are many ROS distributions, it’s a good practice to store the distro you’re currently using in a variable called $ROS_DISTRO.

Add the following line to your configuration file: (.bashrc, .zshrc, …)

export ROS_DISTRO="humble"

Talker/Listener Demo

To test if you have correctly installed ROS2 on your machine, let’s run the “Talker/Listener” demonstration.

Open a terminal window and type:

# command for ZSH: source /opt/ros/humble/setup.zsh
source /opt/ros/$ROS_DISTRO/setup.sh
ros2 run demo_nodes_py talker

Then, open a second terminal window and type:

source /opt/ros/$ROS_DISTRO/setup.sh
ros2 run demo_nodes_py listener

You should now see the terminals “talking” to each other: Talker/Listener Demo

Install the micro-ROS build system

Workspace setup

The instructions below will set up a workspace with a ready-to-use micro-ROS build system.

source /opt/ros/$ROS_DISTRO/setup.sh

# create a workspace and download the micro-ROS tools
mkdir microros_workspace && cd microros_workspace
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# update dependencies using rosdep tool
sudo apt update && sudo apt upgrade
sudo apt install -y python3-rosdep2
rosdep update
rosdep install --from-paths src --ignore-src -y

# install pip and colcon (collective construction)
sudo apt install python3-pip python3-colcon-core

# optionally install the ZSH extension
sudo apt install python3-colcon-zsh

# build micro-ROS tools
colcon build
source install/local_setup.sh

The final output will be:

Starting >>> micro_ros_setup
Finished <<< micro_ros_setup [0.92s]

Summary: 1 package finished [1.10s]

The build system’s workflow consists of:

Create: Download the required repositories and cross-compilation toolchains for the given hardware platform
Configure: Select which app has to be cross-compiled by the toolchain, in addition to set other options (transport, agent’s IP address/port, device ID, …)
Build: The cross-compilation takes place and the platform-specific binaries are generated
Flash: The generated binaries are flashed onto the hardware platform memory (allow the micro-ROS app execution)

Create new firmware workspace

Once the build system is installed, let’s create a firmware workspace. Assuming the terminal’s current directory is still microros_workspace, let’s type:

cd src/micro_ros_setup/scripts
ros2 run micro_ros_setup create_firmware_ws.sh host

The scripts will create firmware and src directories.

From scripts directory, let’s move to rclc sub-directory, where were downloaded a set of micro-ROS apps for Linux:

cd src/uros/micro-ROS-demos/rclc
pwd # check the present working directory, just to clarify
$HOME/microros_workspace/src/micro_ros_setup/scripts/src/uros/micro-ROS-demos/rclc

Each app is a folder containing:

main.c (application logic)
CMakeLists.txt (CMake file containing the script to compile the app)

Take a look at Ping Pong micro-ROS blog post.

Create custom application

If you want to create your custom application, you need to register the app folder (for example <my_app>) in this location, containing the two files described above. Any new application folder needs to be registered in /rclc/CMakeLists.txt file by adding the following line:

export_executable(<my_app>)

Conclusion

This article is not yet finished: I just wanted to publish it as a work in progress until I’ll be done learning the basics of ROS 2.

You can follow me along the way, isn’t it wonderful?

Documentation

Here is the full list of links I used to write this article: