WEBVTT 00:00.680 --> 00:06.620 In this lesson, I will guide you step by step in setting up the development environment. 00:06.650 --> 00:14.150 This is a fundamental step as using a good code editor that has properly been configured for our needs 00:14.180 --> 00:21.800 not only helps us to develop our code faster, but also to detect the errors in advance and also provide 00:21.800 --> 00:24.260 guidance on how to resolve them. 00:24.560 --> 00:31.490 During this course, I will be using Visual Studio Code to develop the code, and you will soon understand 00:31.490 --> 00:36.080 why this is the best choice for developing applications with Ros2. 00:36.110 --> 00:42.470 There are in fact, countless plugins that you can install in order to configure and customize your 00:42.470 --> 00:45.980 development environment, offering various functionalities. 00:45.980 --> 00:52.220 So let's start to install Visual Studio Code by opening the Ubuntu App Center. 00:52.220 --> 00:55.430 So this one here that you find on your ubuntu installation. 00:55.430 --> 00:58.070 And let's just look for code. 00:58.340 --> 00:59.930 And here we can see it. 00:59.930 --> 01:03.690 So let's open and let's install Visual Studio Code. 01:05.580 --> 01:06.300 Perfect. 01:06.300 --> 01:10.710 So now it is installing Visual Studio code on our ubuntu machine. 01:23.340 --> 01:27.330 Once the installation is completed, we can finally open Visual Studio Code. 01:27.930 --> 01:29.370 So here we go. 01:29.520 --> 01:37.320 And now, apart from selecting the team that you prefer, we can install some extensions that are going 01:37.320 --> 01:40.290 to help us during the development of the code. 01:40.320 --> 01:45.420 So the first one that we are going to need is the C plus plus extension. 01:45.450 --> 01:50.850 So this one here and also we are going to need this one here. 01:50.850 --> 01:53.070 So the extension pack. 01:55.470 --> 02:01.490 Then we also are going to need the CMake Extension. 02:01.490 --> 02:07.220 So as you can see, this is already being installed because we have installed the C plus plus extension. 02:07.220 --> 02:11.540 Then let's also have the Python one. 02:12.170 --> 02:12.920 Perfect. 02:12.920 --> 02:14.960 So this one here is enough. 02:16.040 --> 02:21.260 And then we can also install the XML extension. 02:21.890 --> 02:30.470 So this one here and also the XML tools is very useful because it will auto compile some XML files. 02:33.530 --> 02:40.700 And then finally another very useful extension, and probably the one that makes Visual Studio Code 02:40.700 --> 02:48.140 the best code editor for working with Ros is the Ros extension directly developed by Microsoft. 02:48.140 --> 02:49.880 So let's install it. 02:53.900 --> 02:54.740 Perfect. 02:54.740 --> 02:57.410 So now we have all our extensions. 02:57.410 --> 03:01.550 So all the extensions that we need, we have all of them installed in our PC. 03:01.590 --> 03:08.100 and soon you are going to see how all of these extensions are going to help us when we develop the code. 03:08.310 --> 03:14.400 So with this, the configuration of Visual Studio Code is completed, and during the course we will 03:14.400 --> 03:20.880 see how to use and how to take advantage of the features offered by all of the extensions that we have 03:20.880 --> 03:26.880 downloaded in order to develop our application faster, with fewer errors and with more ease. 03:26.910 --> 03:32.670 Now, after installing and configuring Visual Studio Code, since we will be using the Linux terminal 03:32.670 --> 03:39.300 quite extensively during this course, I recommend you installing a more advanced version of the normal 03:39.330 --> 03:42.420 ubuntu terminal that is called Terminator. 03:42.450 --> 03:48.450 So actually you can see that this one here is Terminator that I'm going to use along the course. 03:48.450 --> 03:55.860 And instead here you have that this one is the normal standard ubuntu terminal. 03:55.860 --> 03:59.100 So in order to install this one so that is terminator. 03:59.100 --> 04:08.150 And to use this one you can use the command sudo apt get install terminator. 04:09.680 --> 04:11.720 So in my case. 04:14.750 --> 04:15.410 Perfect. 04:15.440 --> 04:19.970 In my case, I already have this package, so it's already at the newest version. 04:19.970 --> 04:20.660 Perfect. 04:20.660 --> 04:26.960 And so we are going to use this terminal because it offers some functionalities like for example the 04:26.960 --> 04:31.070 possibility to open a terminal in the same window. 04:31.070 --> 04:33.680 So here these are two different terminals. 04:33.680 --> 04:37.520 And I can also open terminals as I prefer. 04:37.520 --> 04:43.070 So for example with Ctrl shift E I can open another terminal on this side. 04:43.070 --> 04:47.990 And with Ctrl shift O I can open another terminal at the bottom. 04:47.990 --> 04:53.090 Also I can press Ctrl shift W in order to close one terminal. 04:53.090 --> 04:59.540 Or also I can press Ctrl shift X to make one section of the terminal bigger. 04:59.540 --> 05:06.690 And now in order to go back again, Ctrl shift X and we are back to the original configuration. 05:06.720 --> 05:07.410 Perfect. 05:07.410 --> 05:11.970 So these are just a few tips in order to get started with Terminator. 05:12.000 --> 05:15.120 Now actually let's close all of these. 05:15.120 --> 05:23.220 Let's just use one single terminal in order to proceed with the installation of some Ros2 packages that 05:23.220 --> 05:25.380 we are going to use during this course. 05:25.380 --> 05:33.300 To install any Ros2 package that is available in open source, we can just use the command sudo apt 05:33.330 --> 05:39.960 get install followed by ros, then the ros2 version that you are using. 05:39.960 --> 05:46.920 So in my case, as I am on ubuntu 24, this is Jesse and now this is followed. 05:46.920 --> 05:51.060 So this command is followed by the name of the package that you want to install. 05:51.060 --> 05:58.500 So let's start by installing a package that is called Joint State Publisher gooey. 05:58.530 --> 05:59.280 So perfect. 05:59.280 --> 06:00.060 This one. 06:02.090 --> 06:04.010 And you are going to use this package. 06:04.010 --> 06:06.860 So as the name says, this offers a GUI. 06:06.860 --> 06:12.470 So a graphical user interface that will enable us to interact with the joints of our robot. 06:12.500 --> 06:18.470 Then still with the same command, let's also install the exact package. 06:18.770 --> 06:21.680 And then let's also install the gazebo package. 06:21.680 --> 06:25.520 So with Ros Jesse Ros gazebo. 06:25.520 --> 06:26.630 So gz. 06:26.630 --> 06:30.530 And let's install all the packages with this name here. 06:30.530 --> 06:32.270 So let's press enter. 06:32.600 --> 06:36.980 And so as you can see here I already have on my PC all these packages here. 06:36.980 --> 06:38.960 And if you don't it will. 06:38.960 --> 06:45.050 So this command here will install for you all these packages here that are used in order to start the 06:45.050 --> 06:46.790 Ros gazebo simulation. 06:46.790 --> 06:52.280 So this is a simulated environment that you are going to use intensively during the course to simulate 06:52.310 --> 06:53.270 our robot. 06:53.300 --> 06:55.430 Then let's also install another package. 06:55.430 --> 06:59.930 And this is called the Ros two control package. 06:59.930 --> 07:05.470 So let's press enter and this package here instead implements the control system of our robot. 07:05.470 --> 07:10.570 So basically the software that will allow us to move the joints of our robot. 07:10.630 --> 07:14.710 Also let's install the Ros two controllers. 07:14.710 --> 07:17.920 So with the final s perfect. 07:17.920 --> 07:22.480 And finally we need also to install a plugin for gazebo. 07:22.480 --> 07:25.720 So for this software here that we have just installed. 07:25.720 --> 07:29.830 So a plugin that will allow us to use this library here. 07:29.830 --> 07:33.490 So the Ros two control library within the simulated environment. 07:33.490 --> 07:35.860 So again we can use the Ros Jesse. 07:36.460 --> 07:42.250 And then let's install the gazebo Ros two control plugin again. 07:42.250 --> 07:44.560 Also in this case let's install all of them. 07:45.310 --> 07:46.000 Perfect. 07:46.000 --> 07:47.590 So let's type yes. 07:54.670 --> 07:57.880 Okay let's install one last Ros two library. 07:57.880 --> 08:00.310 And this is called move it. 08:00.310 --> 08:07.070 And also in this case let's install move it with all the packages that are here within this name here. 08:07.070 --> 08:08.570 So let's press enter. 08:08.570 --> 08:14.420 And this will actually install a lot of packages that I have already installed in my PC and this software 08:14.420 --> 08:14.780 here. 08:14.780 --> 08:21.380 So move it is an open source software that will allow us, for example, to plan movements for our robot. 08:21.380 --> 08:25.730 And so to, for example, to move it our arm from one place to another. 08:25.730 --> 08:31.010 It will also allow us to calculate the kinematic and the inverse kinematics of the robot. 08:31.010 --> 08:33.830 And in general it contains a lot of packages. 08:33.830 --> 08:39.680 So a lot of software that is very useful and that is very common for manipulator robots. 08:39.740 --> 08:42.470 Let's install also another library this time. 08:42.470 --> 08:45.710 This is not a Ros package but is a Linux package. 08:45.710 --> 08:50.330 And let's install it with sudo apt get install. 08:50.330 --> 08:55.310 And the library that we want to install is the lib serial dev. 08:55.310 --> 08:56.720 So let's press enter. 08:56.720 --> 08:58.790 And actually we are going to use this library. 08:58.790 --> 09:06.540 So the lib serial in order to communicate using the serial port with the Arduino device that will control 09:06.540 --> 09:07.830 the robot movements. 09:07.860 --> 09:14.520 Then let's also install some Python packages, starting with the Python package manager called pip. 09:14.580 --> 09:22.920 So with sudo apt get install and let's install Python three pip. 09:23.070 --> 09:23.910 Perfect. 09:23.910 --> 09:27.540 And then still using pip we can install some Python packages. 09:27.540 --> 09:32.340 So some packages that we are going to need only for the Python nodes. 09:32.340 --> 09:36.030 And so let's use the pip install. 09:37.890 --> 09:40.440 Let's start with the Pyserial package. 09:40.470 --> 09:44.610 And so this library here basically is the same as this one here. 09:44.610 --> 09:46.800 So this one is for the C plus plus. 09:46.800 --> 09:52.140 So we're going to use the lib serial for the C plus plus node to communicate with the Arduino node. 09:52.140 --> 09:58.170 And the Pyserial instead will be used to communicate with the Arduino board from a Python node. 09:58.170 --> 10:03.090 So let's install it and let's use the brick system. 10:03.890 --> 10:06.590 packages flag perfect. 10:06.590 --> 10:07.940 So we have the pyserial. 10:07.940 --> 10:10.460 Then let's also install with the same command. 10:10.460 --> 10:14.750 So still using pip let's install the flask library. 10:14.750 --> 10:16.220 So let's press enter. 10:16.220 --> 10:17.210 And this library. 10:17.210 --> 10:20.990 So we are going to use the flask library in order to communicate. 10:20.990 --> 10:24.380 So in order to create a web server running on our PC. 10:24.380 --> 10:29.420 So running on our robot that will be able to communicate with the Alexa API. 10:29.450 --> 10:32.990 So that will receive actually the commands from Alexa. 10:33.020 --> 10:44.690 Then still for the communication with Alexa, let's also install the flask ask SDK and also the ask 10:44.720 --> 10:45.620 SDK. 10:45.620 --> 10:47.300 So let's press enter. 10:47.300 --> 10:49.310 And so we are going to use these three packages. 10:49.310 --> 10:55.130 So the flask the flask ask SDK and also the ask SDK. 10:55.130 --> 10:58.700 So we're going to use the three of them in order to communicate. 10:58.700 --> 11:02.750 So in order to interface our robot with the Alexa voice assistant.