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ROS SETUP - Step by Step

The operating system running for this guide is Linux Mint 20 Ulyana (OS running at the base is Ubuntu 20), so it’s highly recommended to install the distribution of ROS ‘Noetic Ninjemys’, otherwise you could have some compatibility issues. For the installation process you could follow this link: ROS-Noetic Official website. But here we have some tips for make it easier and quicklier.

  1. Configure your Ubuntu repositories

    You need to configure your ubuntu repositories to allow ‘restricted’, ‘universe’ and ‘multiverse’. At the distribution of linux (Linux Mint 20 Ulyana) we are using it’s supposed to be setup by default. The command for enable that repositories are the following:

    sudo add-apt-repository universe
sudo add-apt-repository multiverse
sudo add-apt-repository restricted

  2. Set up your sources.list

    First of all we need to modify a file ‘ros-latest.list’, because the distribution that ROS support is Ubuntu focal and we have linux mint Ulyana; so we need to replace ulyana by focal

    nano /etc/apt/sources.list.d/ros-latest.list

    Replace the text inside by the one below:

    deb http://packages.ros.org/ros/ubuntu focal main

    Now setup your computer to accept software from packages.ros.org and type the following command.

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

  3. Set up your keys

    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

    if your experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command. Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:

    curl -sSL 'http://keyserver.ubuntu.com/pks/lookup? op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-
key add -

    Also, in the end of May 2021, the key for ROS has expired, which need to be updated if you get the following warning when your run sudo apt update:

    W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.ros.org/ros/ubuntu focal InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/focal/InRelease  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Some index files failed to download. They have been ignored, or old ones used instead.

    Update your key with the following command:

    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

    And run sudo apt update again.

  4. Installation

    First, make sure your Debian package index is up-to-date, if you change well the source list no issues with the OS update.

    sudo apt update

    Then you could choose what version of ROS you would like to install:

    • Desktop-Full install: (Recommended): Everything in Desktop plus 2D/3D simulators and 2D/3D perception packages.

      sudo apt install ros-noetic-desktop-full

    • Desktop Install: Everything in ROS-Base plus tools like rqt and rviz.

      sudo apt install ros-noetic-desktop

    • ROS-Base:(Bare Bones) ROS packaging, build, and communication libraries. No GUI tools.

      sudo apt install ros-noetic-ros-base

    NOTE: For search all available ROS packages and install an specific package directly, look at the commands in the next prompt.

    //Search ROS packages
apt search ros-noetic

//Install ROS package directly (PACKAGE= slam-gmapping)
sudo apt install ros-noetic-slam-gmapping

  5. Environment setup

    You must source this script in every bash terminal you use ROS in.

    source /opt/ros/noetic/setup.bash

    But instead of that, you can source this script automatically every time a new shell is launched. These command will do that for you.

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

  6. Next Steps

    1. Check your environment variables

      If you are ever having problems finding or using your ROS packages make sure you have your environment properly setup. A good way to ckeck is to ensure hat environment variables like ROS_ROOT and ROS_PACKAGE_PATH are set: If they are not them, you might have to source some setup.*sh files

       printenv | grep ROS

    2. Installation Catkin-pkg, Python empy and Rospkg

      Catkin is the official build system of ROS and the successor of the original ROS build sytem(rosbuild). Also is needed the system dependence python-empy and rospkg. For installing all of them just type:

        //Catkin package
  sudo apt-get install python-catkin-pkg
 
  //Python-empy dependence
  sudo pip install empy
 
  //Rospkg
  pip install rospkg

    3. Generate a workspace (catkin make)

      Let's create and build a catkin workspace:

        mkdir -p ~/agrolaser_ws/src
  cd ~/agrolaser_ws/
  catkin_make

      The catkin_make command is a convenience tool for working with catkin workspaces. Running in the first time in your workspace, it will create a CmakeLists.txt link in your ‘src’ folder.

    4. Copy sources from GitHub

      Open a new shell and copy the folder agrolaser from the GitHub repo to your workspace:

      git clone https://github.com/OpenAgriTech/Open-PhenoLiDAR.git
  cd Open-PhenoLiDAR/src
  copy -R agrolaser ~/agrolaser_ws/src
  cd ~/agrolaser_ws/

    1. Install rosdep (IMPORTANT STEP!)

      Rosdep is a command-line tool for installing system dependencies.

      • For end-users: Rosdep helps you install system dependencies for software that you are building from source.
      • For developers: Rosdep simplifies the problem of installing system dependencies on different platforms. 
          #Installing rosdep (First step)
  sudo apt-get install python3-rosdep

  # After installation, rosdep needs to be initialized once
  sudo rosdep init

  #Rosdep upgrade (Second step)
  rosdep update

  #Install dependency of all packages in the workspace (Third step)
  rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:focal