ROS 설치

Required Environment

• desktop that installed linux
• pleasant internet

Terminator

Terminator is multi-segment terminal

$ sudo add-apt-repository ppa:gnore-terminator

$ sudo apt-get update 

$ sudo apt-get install terminator

Use Terminoator

• ctrl+shift+o : Vertical segmentation
• ctrl+shift+e : Horizontal segmentation
• ctrl+shift+w : Close window
• alt+arrow: Move between window

Additional Setup

# sometimes modemmanager interferes with using usb to communicating with robot
$ sudo apt-get purge modemmanager

$ sudo adduser [user name]
$ sudo usermod -aG sudo [user name]

Ubuntu ROS installation

from: http://wiki.ros.org/melodic/Installation/Ubuntu

# set up sources.list
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# set up keys
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# Installation
$ sudo apt update
$ sudo apt install ros-melodic-desktop-full

# Environment setup
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

# Initialize rosdep
$ sudo apt install python-rosdep

$ sudo rosdep init
$ rosdep update

well done !! 😀

then let's confirm installation

open new terminer

$ roscore
... logging to /home/kimsooyoung/.ros/log/5b440a74-4cda-11eb-a263-9cb6d08bf543/roslaunch-kimsooyoung-XPS-13-9370-10527.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:38251/
ros_comm version 1.14.10


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES

auto-starting new master
process[master]: started with pid [10537]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 5b440a74-4cda-11eb-a263-9cb6d08bf543
process[rosout-1]: started with pid [10559]
started core service [/rosout]

If you see the above command line, you have succeeded.

let's run ROS program!! 🐢

$ rosrun turtlesim turtlesim_node

# open new terminal

$ rosrun turtlesim turtle_teleop_key
# click and hold on this terminal and control with arrow key

to next

We'll learn about ROS stucture and build system

Bye🖐