WEBVTT 00:00.080 --> 00:06.230 In this lesson, I will guide you step by step in setting up the development environment for ubuntu 00:06.260 --> 00:07.190 22. 00:07.220 --> 00:14.030 This is a fundamental step as using a good code editor that has properly been configured for our needs 00:14.060 --> 00:20.990 not only helps us to develop the code faster, but also to detect the errors in advance, and also provides 00:21.020 --> 00:23.270 guidance on how to resolve them. 00:23.630 --> 00:29.930 During this course, I will be using Visual Studio Code to develop all the code, and you will soon 00:29.930 --> 00:35.060 understand why this is the best choice for developing applications with Ros2. 00:35.090 --> 00:41.480 There are, in fact, countless plugins that you can install in order to configure and customize your 00:41.480 --> 00:47.720 development environment, offering various different functionalities from code Autocompletion that is 00:47.720 --> 00:53.720 available in almost every programming language, also to the customization of icons, comments, and 00:53.720 --> 01:00.190 most importantly, one thing that we will rely on this course is the support of Ros2. 01:00.220 --> 01:03.580 So let's start the configuration of these code editor. 01:03.610 --> 01:07.960 And simply in order to install it we can open the ubuntu software. 01:07.960 --> 01:12.130 So this one here that comes with the ubuntu 22 installation. 01:12.130 --> 01:16.720 And we will simply look for code perfect. 01:16.720 --> 01:21.610 And so let's go down here and we will need to install this one here. 01:21.610 --> 01:24.520 So Visual Studio Code as you can see here. 01:24.520 --> 01:26.110 So let's install it. 01:28.390 --> 01:31.960 And now let's wait for the installation of Visual Studio Code. 01:38.230 --> 01:42.610 Once it is installed we have it in the list of the applications. 01:42.610 --> 01:47.380 So let's open it and here we go. 01:47.380 --> 01:50.260 So this is the main page of Visual Studio Code. 01:50.260 --> 01:56.380 And here apart from choosing your team, the most important thing that we need to do is to install some 01:56.380 --> 02:00.880 extensions that are going to be very helpful in the development of the code. 02:00.940 --> 02:03.940 Let's start with the C plus plus extension. 02:03.970 --> 02:06.220 So this one here let's install it. 02:06.220 --> 02:08.500 And also let's install this one here. 02:08.500 --> 02:10.330 So the extension pack. 02:11.500 --> 02:12.250 Perfect. 02:12.280 --> 02:16.870 Then let's also install the Python extension. 02:17.860 --> 02:18.250 Perfect. 02:18.250 --> 02:22.240 So this one here for the support to the Python language. 02:22.450 --> 02:26.290 And then we also can install the CMake extension. 02:26.290 --> 02:29.320 And this one here are already being installed. 02:29.320 --> 02:34.510 So since we have installed the C plus plus extension these are installed along with it. 02:34.600 --> 02:35.830 So perfect. 02:35.860 --> 02:41.530 Let's also install the XML extension, this one here and also the XML tools. 02:41.560 --> 02:42.340 Perfect. 02:42.340 --> 02:46.840 So this will provide us the Autocompletion for the XML files. 02:46.960 --> 02:48.670 And now let's move on. 02:48.670 --> 02:54.040 Also with the installation of the most important extension that we are going to use in this course, 02:54.040 --> 02:56.190 that is the Ros extension. 02:56.190 --> 03:01.170 So this one here that is directly developed and supported by Microsoft. 03:01.170 --> 03:02.460 So let's install it. 03:03.810 --> 03:04.650 Perfect. 03:04.650 --> 03:08.670 So with this the configuration of Visual Studio Code is completed. 03:08.670 --> 03:15.120 And during the course we will see how to use and how to take advantage of the features offered by all 03:15.120 --> 03:17.550 these extensions that we have just downloaded. 03:17.550 --> 03:22.920 And that will help us to develop application faster, with fewer errors and with more ease. 03:22.980 --> 03:28.620 Now, after installing with Visual Studio Code so we can close it since we have all the extensions that 03:28.620 --> 03:29.160 we need. 03:29.190 --> 03:32.640 Let's move on to install other useful components. 03:32.640 --> 03:37.830 So since we will be using the Linux terminal quite extensively in this course. 03:37.830 --> 03:45.510 So this guy here, I recommend you installing a more advanced version of the standard ubuntu terminal 03:45.510 --> 03:48.420 that is this one here and is called Terminator. 03:48.420 --> 03:57.170 So as you can see here I have the normal ubuntu terminal that is this one here and here I have Terminator. 03:57.170 --> 04:00.170 And the cool thing about these different terminals. 04:00.170 --> 04:03.170 So basically they are the same and you can do the same things. 04:03.170 --> 04:10.190 But the cool thing about Terminator is that you can open more windows so you can open several different 04:10.220 --> 04:12.860 terminals within the same window. 04:12.860 --> 04:16.910 So here as you can see this has a better management of the windows. 04:16.910 --> 04:23.570 And also for example here with Ctrl shift E we can open a new window on the side. 04:23.570 --> 04:28.190 And with Ctrl shift O we can open a new window in the bottom. 04:28.190 --> 04:32.930 Also, we can close existing windows with Ctrl shift W perfect. 04:32.930 --> 04:35.960 So we have closed the window here in the bottom. 04:35.960 --> 04:44.660 And for example, if we write something and we press Ctrl shift X here, we have made this terminal 04:44.690 --> 04:47.360 bigger so we can see this command better. 04:47.360 --> 04:53.080 And in order to go back to the previous configuration we can press again Ctrl shift X. 04:53.110 --> 04:56.080 And so we are back with all our terminals. 04:56.080 --> 04:59.800 So this is just a better management of this terminal. 04:59.800 --> 05:09.040 So if you want to install it you simply need to use sudo apt get install terminator. 05:09.130 --> 05:12.820 So in my case I already have this one. 05:12.820 --> 05:15.340 So I already have the newest version. 05:15.430 --> 05:20.680 And so actually whenever I open a new terminal automatically I have Terminator. 05:20.680 --> 05:21.550 Perfect. 05:21.550 --> 05:29.980 So now that we have Terminator, we can also move on to install some Ros2 packages to install any Ros2 05:29.980 --> 05:38.650 package that is available in open source, we can use simply the command sudo apt get install followed 05:38.650 --> 05:45.340 by ros as this is a Ros package, and then followed by the Ros two version that you are using that in 05:45.340 --> 05:51.880 this case it's humble, followed by the name of the package that you want to download and install in 05:51.880 --> 05:52.540 your PC. 05:52.810 --> 05:54.670 Let's start by downloading. 05:54.670 --> 05:58.780 And so by installing a package that we are going to use during the course. 05:58.780 --> 06:04.930 And that is called Joint State Publisher GUI. 06:04.960 --> 06:06.400 So let's press enter. 06:07.870 --> 06:13.300 And as the name of this package suggests this is going to offer a graphical user interface. 06:13.300 --> 06:18.580 So a guy from which we can interact with the joints of our robot. 06:18.610 --> 06:21.490 Then let's install another Ros2 package. 06:21.490 --> 06:23.380 So still with the same command. 06:23.380 --> 06:28.450 So with sudo apt get installed ros humble as we are on Ros humble now. 06:28.450 --> 06:33.910 So now we are on ubuntu 22 and install the exact package. 06:33.940 --> 06:38.560 Then let's also install another package that is the gazebo package. 06:38.560 --> 06:42.010 And this is called ros gz. 06:42.010 --> 06:45.610 And let's install all the packages that belong to gazebo. 06:45.610 --> 06:47.170 So let's press enter. 06:47.170 --> 06:49.290 And this will install a lot of packages. 06:49.290 --> 06:52.380 So as you can see here, I already have all these packages. 06:52.380 --> 06:56.820 But in your case if you don't have all these packages it will install them. 06:56.820 --> 07:02.070 And we are going to use all of these packages in order to start a software called gazebo. 07:02.070 --> 07:05.550 So as you can see here, this is gazebo simulation. 07:05.550 --> 07:10.350 And this will offer a simulated environment in which we will simulate our robot. 07:10.410 --> 07:16.140 Then let's also install another package that is called Ros two control. 07:16.140 --> 07:18.480 So let's install the Ros two control package. 07:18.480 --> 07:25.260 And as the name of this package suggests, it is going to offer the functionalities in order to control 07:25.260 --> 07:27.300 the joints of our robot. 07:27.300 --> 07:32.070 And then also let's install the Ros two controllers package. 07:32.070 --> 07:33.030 Perfect. 07:33.060 --> 07:39.990 And also now that we have the Ros two control package, and also we have the gazebo package, we can 07:39.990 --> 07:42.120 also install a gazebo plugin. 07:42.120 --> 07:44.130 So this software here. 07:44.130 --> 07:50.720 So this simulator here Offers various plugins that one can install and configure in order, for example, 07:50.720 --> 07:56.450 to simulate sensors, or also like in this case, to simulate the control system of the robot. 07:56.690 --> 08:04.520 And so we can install the package that is called ignition Ros to control. 08:04.520 --> 08:07.370 And also in this case let's install all of them. 08:07.370 --> 08:13.160 Basically this package here will contain a lot of functionalities and will contain a plugin that will 08:13.160 --> 08:19.670 allow us to use the Ros to control library, also in the gazebo version that in this case if you are 08:19.670 --> 08:22.280 on Ros2, humble is called ignition. 08:22.280 --> 08:24.470 So that's why we are using ignition. 08:24.470 --> 08:27.410 But this is just a name for gazebo. 08:27.410 --> 08:31.790 So for the gazebo version that you are going to use here in Ros2 humble. 08:31.820 --> 08:36.950 Finally, let's also install another very useful package that we are going to use intensively during 08:36.950 --> 08:39.740 this course that is called Move It. 08:39.740 --> 08:43.790 And also in this case let's install all the Moveit packages. 08:43.790 --> 08:45.310 So let's press enter. 08:45.310 --> 08:48.940 And as you can see here this will install a lot of packages. 08:48.940 --> 08:51.370 So here I already have all of them. 08:51.370 --> 08:54.760 But if you don't this is going to install a lot of packages. 08:54.760 --> 09:01.210 And all of these packages contain some very useful functionalities for the control, for the planning 09:01.210 --> 09:04.990 and for the obstacle avoidance of manipulator robots. 09:04.990 --> 09:09.580 So we are going to use a lot of tools and utilities from this library here. 09:09.580 --> 09:15.940 So from the movie library now we have done with the installation of the Ros packages and we can install 09:15.970 --> 09:19.990 some other packages starting with the lib serial package. 09:19.990 --> 09:28.960 So let's install it with sudo apt get install the lib serial dev. 09:28.960 --> 09:30.520 So let's press enter. 09:30.520 --> 09:36.220 And there's the name of this package suggests we are going to use it in order to communicate. 09:36.220 --> 09:42.250 So in order to send messages to the Arduino board using the serial port and this one here. 09:42.280 --> 09:47.680 So exactly this package here is the one that we are going to use in order to communicate with the Arduino 09:47.680 --> 09:50.380 board using a C plus plus node. 09:50.440 --> 09:54.130 Then in order to do the same also for the Python node. 09:54.130 --> 09:59.470 So in order to write a Python node that can send commands to the Arduino board, we need to install 09:59.500 --> 10:01.060 the python package manager. 10:01.060 --> 10:10.240 So with sudo apt get install and let's install the Python three pip. 10:10.240 --> 10:11.980 So the python package manager. 10:11.980 --> 10:19.150 And then using pip we can install the package that is called pi serial. 10:19.150 --> 10:20.500 So let's press enter. 10:20.500 --> 10:27.700 And actually this package here is the equivalent version for Python of the lib serial package. 10:27.700 --> 10:33.010 So this library here that instead we are going to use for C plus plus then still using pip. 10:33.010 --> 10:37.480 Let's also install another package that is called flask. 10:37.480 --> 10:42.270 And basically this Python library will allow us to create a web server on our PC. 10:42.480 --> 10:50.880 And then let's also install the flask Ask SDK library. 10:51.270 --> 10:52.020 Perfect. 10:52.020 --> 10:57.390 And this library here is that will allow us to interface our web server. 10:57.390 --> 11:01.830 So the one that we will create using flask with the Alexa SDK. 11:01.830 --> 11:07.020 And so basically we will enable the interface between Alexa and our robot. 11:07.050 --> 11:13.770 Still, in order to develop this interface we also need another library that is that is called ask SDK. 11:13.800 --> 11:16.140 So let's install also this library. 11:18.780 --> 11:19.590 Perfect. 11:19.590 --> 11:23.880 And with this we have done so we have installed all the Ros2 packages that we need. 11:23.880 --> 11:29.100 And also we have installed all the Python packages that we need in order to enable the communication 11:29.100 --> 11:35.820 between our robot and the Alexa voice assistant, so that the Alexa voice assistant will send commands 11:35.820 --> 11:38.730 to our robot and our robot will execute them.