The robot setup is supposed to run on Ubuntu Mate 20.04 Focal Fossa. ROS Noetic is intended to run with this Ubuntu version. To install ROS follow the installation instructions.
In the 1.4 Installation step you have to choose
how much of ROS you want to install. For the development pc you can go with the
sudo apt install ros-noetic-desktop-full
command. For the robot install the
ros-noetic-robot Ubuntu package. Other system dependencies will be installed
rosdep command, explained in the following section.
Another program that is required to run ROS nodes written with the
rospy client library is
python-is-python3. Install it with:
After having git cloned one or more ROS packages, such as
it is necessary to install system dependencies of the packages in the catkin workspace.
For this, ROS provides the
To install all system dependencies of the packages in your catkin workspace make use of the
following command (source):
This will go through each package's
package.xml file and install the listed dependencies that are currently
not installed on your system.
To work with ROS we will use
catkin_tools provide commands such as
catkin build which we will use instead of
catkin_make because the
catkin_tools are more actively developed than
It is recommended to use
catkin_tools instead of the default
catkin when building ROS workspaces.
catkin_tools provides a number of benefits over regular
catkin_make and will be used in the documentation.
All packages can be built using
catkin_make however: use
catkin_make in place of
catkin build where appropriate.
The current way to install
catkin-tools in the documentation
from the Ubuntu package repository doesn't work. Follow the steps below instead for now.
As of now the correct way to install
catkin-tools is to use the following command:
After sucessfully installing
catkin_tools we can create and initialize a workspace (called
ros for this project) with the commands listed in the build_tools documentation:
Note that we already
setup.bash while following the ROS installation instructions.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Command Overview of
To create packages, which will be covered in the next posts in more depth, we will use
catkin create pkg PKG_NAME.
Building the workspace is done with
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
Finally the newly built packages have to be loaded in the environment using
To avoid tediously typing the above
source command, it is convenient to create an alias in your
~/.zshrc similar to the following:
zsh, etc.). In case you are unsure, you can check with the
echo $SHELLcommand which will most likely output
source it is possible to use the
. command instead. Don't confuse it though with the current directory, which is also represented as
Although the catkin tutorial uses
catkin_make it provides a helpful guide to create a workspace