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ROS: Jazzy Jalisco Linux: Ubuntu 24.04 GPIO: LGPIO

ROS Diagram: SMOREBOT2-ROSDIAGRAM

Automated setup for Dev for Linux:

Prep (WSL, Ubuntu, & Cloning):

  1. Install WSL & Ubuntu: We must use Ubuntu 24.04, as it is the version that ROS2 Jazzy supports, and Jazzy is the latest ROS2 release as of the start of this project

    wsl --install -d Ubuntu-24.0
`2. ``

  2. Set Ubuntu as your default WSL distro (not technically required, but saves time) If you have never installed any other distro, or stuff like Docker, this is unnecesary

    Show all distros, the current default is noted

    wsl --list

    Set Ubuntu-24.04 as default

    wsl --set-default Ubuntu-24.0

  3. Clone the Repo to root Activate WSL

    wsl

    Clone this repository

    git clone https://github.com/TheHighlanders/smore_bot_ws

Run the install Script:

cd ~/smore_bot_ws

chmod +x install_ros2_jazzy.sh

./install_ros2_jazzy.sh

Manual setup for Dev for Linux:

  1. Install ROS (deb packages)

    A. Add UTF-8 Locale

    echo "Checking current locale settings:" && locale | grep -i utf-8 && echo "UTF-8 locale detected" || (echo "Setting up UTF-8 locale..." && sudo apt update && sudo apt install -y 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 && echo "New locale settings:" && locale)

    B. Ubuntu Universe

    sudo apt install software-properties-common

sudo add-apt-repository universe

    C. Add ROS 2 GPG key

    sudo apt update && sudo apt install curl

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

    D. Add ROS 2 apt 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

    E. Install Dev Tools

    sudo apt update && sudo apt install ros-dev-tools

    F. Install ROS 2

    sudo apt upgrade

sudo apt install ros-jazzy-desktop

  2. Add Sourcing to .bashrc

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

echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc

source ~/.bashrc

  3. Check setup:

    printenv | grep -i ROS | grep -q "ROS_VERSION=2" && printenv | grep -i ROS | grep -q "ROS_PYTHON_VERSION=3" && printenv | grep -i ROS | grep -q "ROS_DISTRO=jazzy" && printenv | grep -i ROS | grep -q "ROS_DOMAIN_ID=0" && echo "All ROS environment variables are correctly set!" || echo "Some ROS environment variables are missing or incorrect."

  4. Check ROS works:

    ros2 run demo_nodes_cpp talker

    Then in another terminal:

    ros2 run demo_nodes_py listener

    Wait for the listener to print "I heard: [Hello World: xx]"

Running the SMORE Bot System

Option 1: Start Components Individually

To run the complete SMORE Bot system, you need to start three components:

  1. State Manager - The core node that manages robot state:

    # Terminal 1
ros2 run smore_bot_core state_manager

  2. Rosbridge Server - Connects ROS to web applications:

    # Terminal 2
pkill -f rosbridge_websocket
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

  3. Web Frontend - Provides a web dashboard:

    # Terminal 3
ros2 run smore_bot_web web_server

After starting all three components, open your web browser to http://localhost:8080 to view the dashboard.

Option 2: Using the All-in-One Startup Script

A convenience script is provided to start all components in a single terminal:

  1. Make the script executable (first time only):

    chmod +x ~/smore_bot_ws/start_smore_bot.sh

  2. Run the script:

    cd ~/smore_bot_ws
./start_smore_bot.sh

The script will:

  • Start all three components (rosbridge, state_manager, web_server)
  • Show all output in a single terminal
  • Allow you to stop everything with a single Ctrl+C
  • Automatically clean up all processes when terminated

This is the recommended way to start the system for regular use.

Troubleshooting

If you see a "Connecting to ROS..." message that doesn't change:

  1. Check that rosbridge is running on port 9090
  2. Open browser developer tools (F12) to look for JavaScript errors
  3. Make sure all three terminals show no error messages

If you encounter shared memory errors in the terminal:

rm -rf /dev/shm/fastrtps_*

If you encounter "Unable to start server: [Errno 98] Address already in use Retrying in 5.0s.":

pkill -f rosbridge_websocket
sudo lsof -i :9090
# Look for the PID of the process using port 9090
sudo kill -s 4 <PID>

If you encounter throttling on Firefox: EDIT: This is a active bug in the code and this will not fix it

  • Type about:config in the Firefox address bar
  • Accept the warning
  • Search for dom.timeout.throttling_delay
  • Set its value to 0
  • Optionally search for and set privacy.reduceTimerPrecision to false