Setting up ROS 2 and Creating a Simple Program

by ·

Introduction to ROS 2

Setting up ROS 2 is a straightforward process but requires attention to detail, especially when choosing the right distribution and environment. The following steps outline how to install ROS 2 and configure it for development:

**Step 1: Select the Right ROS 2 Distribution**
ROS 2 has multiple distributions, with each offering different features and levels of stability. Choose a distribution that matches your project requirements. Popular choices include Foxy Fitzroy, Galactic Geochelone, and Rolling Ridley. For beginners, Foxy is often recommended due to its long-term support (LTS).

**Step 2: Install ROS 2**
For Linux (Ubuntu being the most widely supported), follow these steps:
1. Update your package list and install necessary packages:

sudo apt update && sudo apt install curl gnupg2 lsb-release

2. Add the ROS 2 GPG key:

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. Add the ROS 2 repository to your system:

echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

4. Install the chosen ROS 2 distribution (e.g., Foxy):

sudo apt update
sudo apt install ros-foxy-desktop

**Step 3: Source the ROS 2 Setup File**
After installation, source the ROS 2 environment so the system recognizes ROS commands:

source /opt/ros/foxy/setup.bash

To avoid running this command every time you open a terminal, add the command to your `.bashrc` file:

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

**Step 4: Install Additional Dependencies**
Depending on your project, you may need additional tools like colcon for building packages. To install colcon:

sudo apt install python3-colcon-common-extensions

**Step 5: Create a Workspace**
A ROS 2 workspace is where you will develop and manage your packages. To set up a new workspace:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build

Source the workspace:

source install/setup.bash

After completing these steps, you will have a functioning ROS 2 environment ready for development.

Steps to Set Up ROS 2

undefined

Writing a Simple ROS 2 Program

undefined