ROS2 Release

Ubuntu/Debian

The programming environment is composed of the (a) ROS1 middleware, (b) ROS2 middleware and (c) JdeRobot base. All this software is open source so there are alternative ways to install all of them directly from the source code. Currently we use ROS Melodic, ROS Dashing and JdeRobot-base (2018-06-06) releases.

Prerequisites

First check that you have the following dependencies installed. If not, you can install them in the links provided.

• Ubuntu 18.04

• JdeRobot base

• ROS(Robot Operating System) Melodic

• ROS2 Dashing

• OpenCV

• Download github Desktop from here.

Installation

Follow the next steps to have the environment up and running, ready to use.

**Switch to ROS-ROS2 interface branch

Branch 2: To run this tool with ROS2 and ROS1

1. Install ROS2 framework.

   Add the lastest ROS2 sources:

    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
   

    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
   

    sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
   

    sudo apt update
   

    sudo apt install ros-dashing-desktop
   
   

    sudo apt install python3-argcomplete
   

    sudo apt update
    sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
    sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
   

2. Install ROS framework.

   Add the lastest ROS sources:

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

    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
   

3. Install colcon

    sudo apt install python3-colcon-common-extensions
   

4. Install the packages.

   Install the following packages:

    sudo apt-get install ros-melodic-desktop-full
   

5. Install the JdeRobot-Academy software

   Once you have JdeRobot installed in your system, you can download and install the Academy software. To do so, you must:

    git clone https://github.com/JdeRobot/base.git
   
    sudo apt install jderobot-gazebo-assets
   
   

6. Install CamViz tool

• Clone CamViz - repository.

  Download the Academy software. With git Shell clone the repository as in Linux and run the exercices with CMD o powershell

    git clone https://github.com/JdeRobot/camViz.git
  

Note: Github repositories are located in Documents\GitHub

Run CamViz

Branch 2: ROS2 and ROS1

Please Clean previous builds and caches from build, install and logs folder when moving from ROS1 to ROS2 or vice versa

Case 1: ROS1

• Terminal 1

Run any image publisher in ROS

Ex: rosrun usb_cam usb_cam_node

• Terminal 2

    cd camViz
  

    colcon build --symlink-install \--cmake-args \ -Drosversion:string=1
  

    source /opt/ros/melodic/setup.bash
  

    cd build/camViz 
  
    ./camViz camViz.yml
  

Case 2: ROS2

• Terminal 1

Run any image publisher in ROS

Ex: Follow this github repo https://github.com/klintan/ros2_usb_camera

• Terminal 2

    cd camViz
  

    colcon build --symlink-install \--cmake-args \ -Drosversion:string=0
  

    source /opt/ros/dashing/setup.bash
  

    cd build/camViz 
  
    ./camViz camViz.yml
  

• Change User name in CMakeLists in path ‘/home/(username)…’

You can watch a video demonstration in the home page.