🚀 ROS 2 Installation Workshop

The ultimate guide to setting up your ROS 2 development environment with awesome simulations!

Welcome Robotics Enthusiasts!

This repository will help you:

• Dual Boot your System.
• Install ROS 2 quickly and painlessly
• Get access to some cool pre-configured simulations
• Jumpstart your robotics projects

🛠️ System Requirements

• Ubuntu 22.04 (Jammy)
• At least 4GB RAM (8GB recommended for simulations)
• 50GB+ free disk space
• Stable internet connection

DUAL BOOT or VM BOX Installation

Choose your adventure:

Option 1: Dual Boot (Windows)

🔹 Better performance (full hardware access)
🔹 Recommended for serious ROS development
Complete Dual Boot Guide

Option 2: Virtual Machine (Windows/Mac)

🔹 Safer for beginners (no partitioning)
🔹 Easy to delete if something goes wrong
VM Setup Guide

Ubuntu 22.04 you need to install only. LINK This One - 64-bit ARM (ARMv8/AArch64) server install image

Pro Tip: Dual boot = for real robotics work!
Warning: Backup your data before dual booting!

Quick Installation of ROS2

ROS 2 Humble Hawksbill (Installation Guide):

• Installation Guide for ROS 2

Installation Steps{just copy and paste each command in terminal [for pasting commands in the terminal, press ctrl+shift+v]}

For Windows

1. Open Terminal in Ubuntu & Set Locale:

locale  # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale  # verify settings

2. Setup Sources:

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

Add ROS 2 GPG key with apt:

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Add the ROS 2 repository:

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

3. Install ROS 2 packages:

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

4. Install Gazebo for ROS 2:

sudo apt install ros-humble-gazebo-ros

5. Environment Setup:

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

For Mac User:

Initial System Setup

# Update system
sudo apt update
sudo apt upgrade -y

# Install required dependencies
sudo apt install -y software-properties-common build-essential cmake git curl wget gnupg lsb-release

Installation Guide for ROS 2 Humble and Gazebo Harmonic on Ubuntu 22.04 (ARM)

This guide provides step-by-step instructions to install ROS 2 Humble and Gazebo Harmonic on an ARM-based Ubuntu 22.04 system, including environment setup and optimizations for ARM architecture.

1. ROS 2 Humble Installation

Set Locale

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Add ROS 2 Repository

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

Install ROS 2 Humble

sudo apt update
sudo apt install -y ros-humble-desktop

Setup ROS 2 Environment

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc

Install Development Tools

sudo apt install -y ros-dev-tools python3-colcon-common-extensions python3-rosdep python3-pip
sudo rosdep init
rosdep update

2. Gazebo Harmonic Installation

Add Gazebo Repository

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

Install Gazebo Harmonic

sudo apt update
sudo apt install -y gz-harmonic

Environment Setup for ARM

echo 'export LIBGL_ALWAYS_SOFTWARE=1' >> ~/.bashrc
echo 'export MESA_GL_VERSION_OVERRIDE=3.3' >> ~/.bashrc
echo 'export OGRE_RTT_MODE=Copy' >> ~/.bashrc
source ~/.bashrc

3. ROS 2 - Gazebo Integration

Install Integration Packages

sudo apt update
sudo apt install -y ros-humble-ros-gz-bridge ros-humble-ros-gz-sim ros-humble-ros-gz-interfaces

Create a Workspace

mkdir -p ~/ros_gz_ws/src
cd ~/ros_gz_ws/src

Clone Integration Packages

# Environment variables to optimize compilation on ARM
export ASAN_OPTIONS=detect_leaks=0
export CCACHE_SLOPPINESS=pch_defines,time_macros
export CCACHE_COMPRESS=1
export CCACHE_MAXSIZE=5G

# Build with single thread to avoid memory issues
MAKEFLAGS="-j1" colcon build --symlink-install --packages-select ros_gz_bridge --cmake-args -DCMAKE_CXX_FLAGS="-O1"

# Build other packages
colcon build --symlink-install --packages-skip ros_gz_bridge

Source the Workspace

echo 'source ~/ros_gz_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Open the terminal and write the following cmd:-

sudo apt install python3-colcon-common-extensions

Check Installation:

Open terminal 1:

ros2 run demo_nodes_cpp talker

Open terminal 2:

ros2 run demo_nodes_py listener

Phew, you made it to the end! Thanks for hangin' in there like a champ