ROS2 - Robot Operating System 2 For Beginners

A beginner's guide to start working with projects based on ROS2 using C++

Overview

This reposotory contains useful ROS2 demos.

Preferred Environment Setup

To run this example without issues, the following environment setup are preferred.


Operating System	UBUNTU 22.04 (Jammy)
ROS2 Version	ROS2 Humble

**Note: ** In my case, I have an Ubuntu 22.04 boot on my PC.

Installing ROS2 Humble

ROS2 humble only works well with Ubuntu 22.04. To better follow the installation process
clone this repo at home directory.

cd
git clone https://github.com/kimsniper/ros2.git

Step 1: Follow installation mentioned in the link below:

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Step 2: Navigate to /opt/ros/humble. There is a file named setup.bash, this file should be source at bashrc file

Place the text below at the bottom area of .bashrc file

source /opt/ros/humble/setup.bash

Step 3: Install colcon build tool

sudo apt install python3-colcon-common-extensions

Step 4: Source colcon build tool argcomplete

This is to allow colcon build to have autocompletion. Place the text below at the bottom area of .bashrc file

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

Step 5: In home directory create the workspace directory and under it, create src directory. Then inside the workspace directory, run the following command

colcon build

Step 6: An additional three directories will be created inside the workspace. Navigate inside install directory and there will be a setup.bash file \

Be sure to source it everytime a new terminal windows is opened

Place the text below at the bottom area of .bashrc file

source ~/ros2/ros2_ws/install/setup.bash

Colcon build commands

Navigate to the ros2 workspace directory and run the following command.

Build all packages

colcon build

Build specific package

colcon build --packages-select `name_of_package`

See the Colcon Tutorial Link for full steps to configure and build ROS2 packages.

Installing Gazebo

sudo apt install ros-humble-gazebo*

Then source the setup.bash at .bashrc file

source /usr/share/gazebo/setup.bash

Installing Package To Run URDF - Joint State Publisher GUI

sudo apt install ros-humble-joint-state-publisher-gui

Installing Package To Enable Xacro

sudo apt install ros-humble-xacro

Final note

Usage tutorial to every packages is provided in a readme file inside package directories.

kimsniper/ros2_demos