1 00:00:00,600 --> 00:00:05,820 In this lecture we'll be learning how to install ROS to humble on Ubuntu 2204. 2 00:00:05,940 --> 00:00:11,760 These installation steps will be similar for debian based Linux distributions, but just note for this 3 00:00:11,760 --> 00:00:16,260 course I will be using ubuntu 2204 as my operating system. 4 00:00:16,860 --> 00:00:21,660 Before we begin, I just want to note that in this course I will be using a terminal emulator called 5 00:00:21,660 --> 00:00:27,930 Tilex, which allows me to easily open and access multiple tabs on the same screen to access the native 6 00:00:27,930 --> 00:00:28,680 Ubuntu terminal. 7 00:00:28,710 --> 00:00:36,030 You can either head over to the apps icon and type in terminal or alternatively you can hit control 8 00:00:36,030 --> 00:00:38,370 alt rt on your keyboard to open one. 9 00:00:38,670 --> 00:00:45,480 Then one of the things I like to do is right click on the terminal icon in my dock and favored it so 10 00:00:45,480 --> 00:00:48,720 that I can easily access it for future use. 11 00:00:49,820 --> 00:00:52,910 You can follow along through the rest of this course using this standard terminal. 12 00:00:52,910 --> 00:00:57,470 But like I said, I will be installing the tile terminal emulator so you can install it through the 13 00:00:57,470 --> 00:01:01,340 following commands so you'll be prompted for your password. 14 00:01:02,660 --> 00:01:02,990 All right. 15 00:01:02,990 --> 00:01:09,020 So we've gone ahead and updated our app repositories and I'll go ahead and install Tilex hit Y and enter. 16 00:01:10,330 --> 00:01:10,900 All righty. 17 00:01:10,900 --> 00:01:16,090 Once that's installed, I can go ahead and head back over to the apps icon and search up Title X and 18 00:01:16,090 --> 00:01:16,640 there we see it. 19 00:01:16,660 --> 00:01:18,160 So I'll go ahead and hit enter. 20 00:01:18,960 --> 00:01:22,140 And so now this is my new terminal, which I will be using. 21 00:01:22,440 --> 00:01:27,240 So as usual, I'll go ahead and right click on it, add it to favorites so that I can easily access 22 00:01:27,240 --> 00:01:28,500 it later on. 23 00:01:28,920 --> 00:01:32,100 Then I can go ahead and configure my terminal settings. 24 00:01:32,800 --> 00:01:34,620 So it's this configuration issue detected. 25 00:01:34,630 --> 00:01:39,550 Don't worry about this, we'll just hit OC and all we need to do is head over to the default tab at 26 00:01:39,550 --> 00:01:46,630 over to command and then we will run the command as a login shell and I'll head over to color and you 27 00:01:46,630 --> 00:01:51,910 can change this however you want, but I will go ahead and be using the Molokai Dark theme. 28 00:01:53,550 --> 00:01:57,720 And by any means you can increase the terminal size if you want to. 29 00:01:57,750 --> 00:02:01,680 So say increase how many default columns there are. 30 00:02:02,750 --> 00:02:03,680 And Rose. 31 00:02:05,150 --> 00:02:06,650 So I'll just make that a bit bigger. 32 00:02:07,820 --> 00:02:09,430 And I can go ahead and close this. 33 00:02:09,440 --> 00:02:10,940 So this is our old terminal. 34 00:02:10,940 --> 00:02:14,930 So I'll be closing this and this will be the tile terminal, which I'll be using for now. 35 00:02:14,930 --> 00:02:15,920 I'll close it. 36 00:02:15,920 --> 00:02:19,700 We can reopen it and we can see this is the new size which we just set. 37 00:02:19,700 --> 00:02:23,990 And you can open up new terminal tabs however you want, whether either on the right or on the bottom 38 00:02:23,990 --> 00:02:28,790 using these buttons so you can get secondary terminals, which we'll be using throughout the course. 39 00:02:28,940 --> 00:02:29,420 All right. 40 00:02:29,420 --> 00:02:34,880 With that out of the way, you can open up a browser and head over to the Ross Humble Installation page. 41 00:02:34,970 --> 00:02:40,040 I'll be using the Chrome browser, but it is completely fine to use the default Firefox browser or any 42 00:02:40,040 --> 00:02:41,540 other browser of your choosing. 43 00:02:41,840 --> 00:02:46,970 Please double check that you are on the Ross Humble installation page and not some other distribution 44 00:02:46,970 --> 00:02:47,990 like Ross Fox. 45 00:02:47,990 --> 00:02:51,590 Because this distribution is meant for Ubuntu 22.4. 46 00:02:51,950 --> 00:02:56,720 For now, I'll go ahead and slide this terminal over to the left so that it expands accordingly. 47 00:02:57,080 --> 00:03:04,340 Once here I will select the Debian package link under ubuntu linux jammy jellyfish 22.4. 48 00:03:04,370 --> 00:03:09,290 Make sure not to accidentally click one of the other links below or the ubuntu linux building from source 49 00:03:09,290 --> 00:03:14,210 as that will take much longer than just using the debian package for ubuntu. 50 00:03:15,140 --> 00:03:17,090 So I'll go ahead and scroll down. 51 00:03:18,200 --> 00:03:19,900 So first things first is setting up locale. 52 00:03:19,910 --> 00:03:25,190 If you're on Ubuntu 22.4 desktop, you should be already set, but you can just double check by typing 53 00:03:25,190 --> 00:03:30,680 in this locale command and you can pace either using control shift V or by right clicking and hit paste. 54 00:03:30,680 --> 00:03:32,780 And then I'll go ahead and hit enter. 55 00:03:33,820 --> 00:03:38,220 And as long as you see this UTF eight setting, then you're good to go. 56 00:03:38,230 --> 00:03:43,450 If you don't see UTF eight, then you'd run the rest of these commands to make sure that you are set 57 00:03:43,450 --> 00:03:45,490 to the UTF eight environment. 58 00:03:45,520 --> 00:03:45,920 All right. 59 00:03:45,940 --> 00:03:48,370 Next up, we'll go ahead and set up our sources. 60 00:03:48,370 --> 00:03:51,730 So it says you'll need to add the RAR to app repository to your system. 61 00:03:51,730 --> 00:03:58,090 So that's what allows us to install the ROS to APT package as well as install future ROS packages and 62 00:03:58,090 --> 00:03:59,380 keep things updated. 63 00:03:59,380 --> 00:04:02,710 So it says first make sure that the Ubuntu universal repository is enabled. 64 00:04:02,710 --> 00:04:08,680 Again, this should be fine by default and you can check by copying this command in hitting enter. 65 00:04:08,680 --> 00:04:14,560 And as long as you see this 500 message and we see ubuntu gemmy, you're fine. 66 00:04:14,740 --> 00:04:16,300 Like I said, this is fine by default. 67 00:04:16,300 --> 00:04:20,200 This is only for special installations of ubuntu that this may not apply to. 68 00:04:20,470 --> 00:04:25,750 So if you don't see a message that looks something like this, you can run these lines to install the 69 00:04:25,750 --> 00:04:31,150 software properties common and add universe repository sharing onto your system. 70 00:04:31,360 --> 00:04:37,060 Next up, we can go ahead and add the ROS to app repository to our system so we can just go ahead and 71 00:04:37,060 --> 00:04:40,930 hit this copy to clipboard button and I'll go ahead and paste it in as usual. 72 00:04:40,930 --> 00:04:44,740 And you might get an error like this because we're calling sudo and I'll just hit paste anyway. 73 00:04:46,240 --> 00:04:47,230 And I can hit enter. 74 00:04:48,250 --> 00:04:49,330 Put in your password. 75 00:04:51,160 --> 00:04:52,390 I'll hit y enter. 76 00:04:53,350 --> 00:04:54,650 All right, so we've added the repository. 77 00:04:54,670 --> 00:04:57,100 Now, let's add it to our sources list with this command. 78 00:04:59,650 --> 00:05:02,810 And now we can actually go ahead and install ROS two. 79 00:05:02,830 --> 00:05:06,190 So we can go ahead and do sudo apt update. 80 00:05:07,510 --> 00:05:12,430 And here it actually recommends that you upgrade your Ubuntu system to make sure your system is up to 81 00:05:12,430 --> 00:05:15,310 date before installing your ROS package. 82 00:05:15,310 --> 00:05:17,110 So we can run that as well. 83 00:05:18,590 --> 00:05:18,920 All right. 84 00:05:18,920 --> 00:05:19,880 That's out of the way. 85 00:05:20,000 --> 00:05:25,760 And now we can scroll down and finally we can actually get to installing the Ross Humble desktop app 86 00:05:25,760 --> 00:05:26,690 repository. 87 00:05:27,350 --> 00:05:28,310 I didn't run that. 88 00:05:28,670 --> 00:05:31,880 And so here we see it's going to take about three gigabytes of additional disk space. 89 00:05:31,880 --> 00:05:32,830 So just be wary of that. 90 00:05:32,840 --> 00:05:34,280 So I'll hit Y and enter. 91 00:05:35,230 --> 00:05:38,950 So as I mentioned, this will take some time depending on your Internet connection and your computer 92 00:05:38,950 --> 00:05:39,610 processor. 93 00:05:39,610 --> 00:05:43,750 So I will go ahead and speed up the video to when the installation finishes. 94 00:05:44,500 --> 00:05:44,950 All right. 95 00:05:44,950 --> 00:05:47,410 So that took about 15 minutes to finish. 96 00:05:47,410 --> 00:05:52,480 So just expect this to take about 20 or 25 minutes or so, depending on your computer and internet speed 97 00:05:52,480 --> 00:05:55,000 to download and install ROS. 98 00:05:55,030 --> 00:05:55,510 Okay. 99 00:05:55,510 --> 00:05:58,960 With that, we now have ROS installed onto our computer. 100 00:05:58,960 --> 00:06:03,280 Before we can use it, we need to set up our terminal environment to be able to use ROS. 101 00:06:03,460 --> 00:06:10,660 In order to use ROS in the terminal we must first source our terminal to ROS set up bash file so we 102 00:06:10,660 --> 00:06:14,290 can go ahead and source it now with this command that we see here. 103 00:06:15,840 --> 00:06:16,260 For now. 104 00:06:16,260 --> 00:06:20,730 I'll go ahead and clear the screen and then I can paste in the command. 105 00:06:22,000 --> 00:06:26,210 And so once we do this in our terminal, we can now use our Ross commands. 106 00:06:26,230 --> 00:06:30,310 So it is worth noting we need to run this command every time we open a new terminal in order to use 107 00:06:30,310 --> 00:06:33,520 ROS, we will set up our environment in a bit to automatically source. 108 00:06:33,520 --> 00:06:39,010 We can test that Ros works in the terminal by running the example code provided down below. 109 00:06:39,010 --> 00:06:46,210 So as we saw, we sourced our ROS instance using this line right here and then we can run a example 110 00:06:46,210 --> 00:06:49,060 talker node by running this line right here. 111 00:06:49,060 --> 00:06:51,310 And again, don't worry about the commands too much right now. 112 00:06:51,310 --> 00:06:55,930 We'll explain them later in the course, but just know this is going to run an example node which publishes 113 00:06:55,930 --> 00:06:57,430 some messages which we will see in a bit. 114 00:06:58,990 --> 00:07:00,940 So I run it and it says Publishing. 115 00:07:00,940 --> 00:07:01,630 Hello world. 116 00:07:01,630 --> 00:07:03,430 One, two, three, and so on. 117 00:07:03,430 --> 00:07:09,190 So I'll go ahead and open up a second terminal tab right below and we can run these two commands right 118 00:07:09,190 --> 00:07:09,460 here. 119 00:07:09,460 --> 00:07:14,320 So we'll have to source our Ros Humble installation and then we will be running a listener node which 120 00:07:14,320 --> 00:07:15,970 subscribes to these messages coming in. 121 00:07:15,970 --> 00:07:17,560 So go ahead and paste that. 122 00:07:19,440 --> 00:07:25,450 And here we see I heard Hello World and the number corresponding to what was being published. 123 00:07:25,470 --> 00:07:30,780 So here we can see it's receiving the published messages and printing them out as it subscribes. 124 00:07:30,780 --> 00:07:34,830 And you can kind of see if I stop this first terminal here, I stopped the publisher. 125 00:07:34,830 --> 00:07:38,190 It stops receiving the messages over us to stop running these notes. 126 00:07:38,190 --> 00:07:40,770 You can just hit control C in each terminal. 127 00:07:40,770 --> 00:07:45,780 So now, to make it so that all of our terminals we open are able to use the ROS terminal commands without 128 00:07:45,780 --> 00:07:47,160 having to run the source command. 129 00:07:47,160 --> 00:07:53,010 We will have to modify our bash, our C file, which the documentation goes over in the next tutorial. 130 00:07:53,010 --> 00:07:58,020 So if I go ahead and scroll down, it's this next step after installing, continue with the tutorials 131 00:07:58,020 --> 00:07:58,530 and demos. 132 00:07:58,530 --> 00:08:04,470 So I'll just click on this and here we see a tutorial on configuring your ROS to environment so I can 133 00:08:04,470 --> 00:08:05,640 go ahead and click on that. 134 00:08:06,150 --> 00:08:10,380 You can read a little bit on the background, but essentially all we're going to be doing is modifying 135 00:08:10,380 --> 00:08:14,010 our bash, our file to run this command on startup. 136 00:08:14,010 --> 00:08:16,140 So we actually see right here. 137 00:08:17,170 --> 00:08:22,000 Says Echo, and it has that same command and it points it to the end of our bash, our C file, so I 138 00:08:22,000 --> 00:08:26,020 can just go ahead and copy that and I'll run it in our terminal. 139 00:08:26,170 --> 00:08:31,300 And now this has been written to the end of our bash, our C file, which runs every time we open a 140 00:08:31,300 --> 00:08:32,200 new terminal. 141 00:08:32,530 --> 00:08:35,200 And so just to prove this, I can go ahead and close this terminal tab. 142 00:08:35,530 --> 00:08:36,490 Open a new one. 143 00:08:37,910 --> 00:08:46,220 And I can actually go ahead and rerun the Talker node without having to source our Ross installation. 144 00:08:47,490 --> 00:08:49,320 And so we see it runs as normal. 145 00:08:49,320 --> 00:08:53,400 So now we're able to use all of our commands within any new terminals that we open up. 146 00:08:53,430 --> 00:08:57,060 Lastly, if you ever wanted to check your environment variables, if I actually go ahead and scroll 147 00:08:57,060 --> 00:09:02,430 down, we can call this print and command, which will print our environment variables. 148 00:09:02,430 --> 00:09:05,190 So I'll go ahead and clear the screen and paste this in. 149 00:09:05,580 --> 00:09:12,690 And so here we see things such as the ROS version being version two, because this is Ros two and our 150 00:09:12,690 --> 00:09:17,070 Ros Python version is three and our ROS distro is humble. 151 00:09:17,070 --> 00:09:23,490 So this just goes to show that now our terminal environment is now sourced to our Ros Humble distribution 152 00:09:23,490 --> 00:09:27,270 and so now our environment is fully set up to run all these ROS commands. 153 00:09:27,930 --> 00:09:28,920 Congratulations. 154 00:09:28,920 --> 00:09:34,950 With that you've successfully installed Ros, feel free to look over the ROS to documentation website 155 00:09:34,950 --> 00:09:37,830 pages for more information if you're interested. 156 00:09:38,040 --> 00:09:41,610 But with that, let's move on to installing our code editor.