Installing ROS 2 Humble
*Warning: This tutorial uses Ubuntu Linux 22.04
First ensure that you have both software-properties-common and the Ubuntu Universe repository installed:
sudo apt install software-properties-common
sudo add-apt-repository universe
Next, add the 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
Afterward, add the repository to your sources list:
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
Before continuing, update your apt repository cache after setting up the repositories and make sure (it is extremely recommended) that your system is fully upgraded:
sudo apt update
sudo apt upgrade
Then, install ROS2 Humble packages:
sudo apt install ros-humble-desktop
Typically, it is always needed to source the ROS environment when opening a ROS terminal:
source /opt/ros/humble/setup.bash
To save time, it is possible to automate this process so that every time you open a new shell, it happens automatically, like this:
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc
To test if the API is working correctly, run the C++ talker example in one terminal:
ros2 run demo_nodes_cpp talker
And in another window, run the Python listener example:
ros2 run demo_nodes_py listener
If everything is working, the expected behavior is:
*First, make sure that the environment has been initialized using the source command before starting
Create a fbot_ws directory (to indicate that this is the fbot workspace) and a src folder where the repositories will be stored:
mkdir -p ~fbot_ws/src
cd ~/fbot_ws/src
Clone the desired repositories into the /fbot_ws/src directory:
git clone https://github.com/butia-bots/fbot_description.git
git clone https://github.com/butia-bots/fbot_navigation.git
*Other repositories from the team can be found by clicking here
For private repositories (like fbot_behavior), do the same, but you will need to use your GitHub username with access to it and a personal access token (or an SSH key) as a password.
git clone https://github.com/butia-bots/fbot_behavior.git
*For more information on how to create a personal access token, click here
The authorization will look like this:
Where YOUR_USERNAME should be your email that is part of the organization, and the password field should be filled with the personal access token.
Go back to the root repository /fbot_ws to continue:
cd ..
After that, initialize rosdep:
sudo rosdep init
rosdep update
Then, resolve the dependencies for the repositories in /fbot_ws:
rosdep install -i --from-path src --rosdistro humble -y
Build the workspace:
colcon build
After that, in a new terminal, use the source:
source /opt/ros/humble/setup.bash
Then, go to the root of the directory and create a local overlay source:
cd ~/fbot_ws
source install/local_setup.bash
*To better understand how different types of sources (overlay/underlay) work, click here
If more information is needed, you can consult the ROS documentation at:
Or continue Installing Gazebo to run simulations at: