[ROS2 시작하기 - 0] 환경 셋팅

Setup Your Environment

Install

• Oracle VM VirtualBox
• ubuntu-20.04.5-desktop-amd64.iso

Environment

• Oracle VM VirtualBox
• OS : ubuntu 20.04

Configuration

• Memory Size : 4 or 8GB
• Hard disk file type : VDI
• Hard disk Size : 20 ~ 30GB
• Settings
  • System → Processor → 3CPU
  • Network → Attached to → Bridged Adapter
  • Storage → Controller : IDE → Empty → Choose/Create a Virtual Optical Disk (your .iso)
• Installing ubuntu
  • Install Ubuntu
  • Minimal installation
• For full size Screen

sudo apt update

sudo apt install build-essential gcc make perl dkms

reboot → Devices → Insert guest Addition CD image → run → restart

(If it doesn’t work, try above process)

• Devices → Shared Clipboard → Bidirectional
• For upgrade every packages

sudo apt update

sudo apt upgrade

• Useful terminator

sudo apt install terminator

• Install VScode

1. Install curl

sudo apt-get install curl

2. Download the Microsoft GPG key and copy it to the /etc/apt/trusted.gpg.d/ path

sudo sh -c 'curl <https://packages.microsoft.com/keys/microsoft.asc> | gpg --dearmor > /etc/apt/trusted.gpg.d/microsoft.gpg'

3. Add repository to download Visual Studio Code

sudo sh -c 'echo "deb [arch=amd64] <https://packages.microsoft.com/repos/vscode> stable main" > /etc/apt/sources.list.d/vscode.list'

4. fetch package list from the repository

sudo apt update

5. Install Visual Studio Code

sudo apt install code

6. Install Python

sudo apt install python3-pip

---

Install ROS2

Ubuntu (Debian) - ROS 2 Documentation: Foxy documentation

Ubuntu (Debian) — ROS 2 Documentation: Foxy documentation

• To use ros2 command

gedit ~/.bashrc

# insert on last line
source /opt/ros/foxy/setup.bash

• Install colcon

sudo apt install python3-colcon-common-extensions

• To use colcon command

gedit ~/.bashrc

# insert on last line
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

• Create a workspace

mkdir ~/ros2_ws
cd ~/ros2_ws
mkdir src
colcon build
# if you have a problem, it is because of Network
# you can use network, if you set device -> Network -> attached to NAT

cd install
source local_setup.bash # whatever you can make in this workspace now!

• To use workspace

gedit ~/.bashrc

#insert this in the last line
source ~/ros2_ws/install/setup.bash

---

Packages

• Create new ‘python’ package

ros2 pkg create [name] --build-type ament_python --dependencies rclpy #python
ros2 pkg create [name] --build-type ament_cmake --dependencies rclcpp #c++

After creating pkg, you can see package.xml. If you release it later, the following part will be changed.

Default

If you make a package, you should build

• Build only one package

colcon build --packages-select [name]