1 00:00:00,780 --> 00:00:06,240 In this lecture, we will go over how to build Ros to humble from source on a bone to 22.4. 2 00:00:06,450 --> 00:00:11,820 This is simply a different way to install ROS two humble compared to installing binaries which may be 3 00:00:11,820 --> 00:00:17,700 necessary for installing particular distributions on different versions of a bone to or Linux as well. 4 00:00:17,700 --> 00:00:23,520 If you want to contribute to ROS two and are actively developing code for it, building ROS two from 5 00:00:23,520 --> 00:00:28,770 source does take a lot of time, so realistically leave yourself at least an hour to complete this lecture 6 00:00:28,770 --> 00:00:33,600 as it will also take up about 20 gigabytes of storage space should you choose to follow along. 7 00:00:34,380 --> 00:00:39,390 Again, this is not needed to utilize any of the other main ROS features if you are already using the 8 00:00:39,390 --> 00:00:41,220 ROS to binary installation. 9 00:00:41,220 --> 00:00:43,800 So by all means feel free to skip this lecture. 10 00:00:44,910 --> 00:00:50,820 So the first thing I will do is open up a browser and head over to the installation page for Ros to 11 00:00:50,820 --> 00:00:51,320 humble. 12 00:00:51,330 --> 00:00:56,160 Now instead of installing the Debian package like we did in section two, we're going to scroll down 13 00:00:56,160 --> 00:01:01,010 a little bit and build from source following the Ubuntu Linux guide. 14 00:01:01,020 --> 00:01:04,890 So go ahead and click on that link and here are the steps we will be following. 15 00:01:04,890 --> 00:01:10,560 So we'll be setting up our locale, adding the ROS to repository, downloading all the source code for 16 00:01:10,560 --> 00:01:15,810 us two from GitHub where we will be manually installing dependencies and then building it. 17 00:01:15,810 --> 00:01:17,070 So let's jump in. 18 00:01:17,070 --> 00:01:21,540 So scrolling down you can see some of the system requirements, so you can see some of the distributions 19 00:01:21,540 --> 00:01:24,120 which are supported for building from source. 20 00:01:24,120 --> 00:01:33,180 So in this case we are building on Ubuntu Linux 22.4 but these builds will also work for focal and Debian 21 00:01:33,180 --> 00:01:33,930 bullseye. 22 00:01:34,020 --> 00:01:40,620 Granted, these are tier three systems, so there may not be as much support compared to 22.4. 23 00:01:40,830 --> 00:01:41,220 All right. 24 00:01:41,220 --> 00:01:43,680 So first up is setting up our locale. 25 00:01:43,830 --> 00:01:48,900 Now, unless you're using a special Linux operating system version, your locale settings should already 26 00:01:48,900 --> 00:01:55,830 be correctly set to UTF eight US, which we can verify by opening up a terminal and simply typing in 27 00:01:55,830 --> 00:01:56,880 the locale command. 28 00:01:56,880 --> 00:01:58,200 So our current setup is fine. 29 00:01:58,200 --> 00:02:02,310 We can see the US UTF eight so I can go ahead and add the roster repo. 30 00:02:02,310 --> 00:02:08,250 If you see something different on your output, feel free to run these commands in your terminal to 31 00:02:08,250 --> 00:02:10,800 make sure that you are set to that UTF eight setting. 32 00:02:10,800 --> 00:02:13,130 So let's go ahead and add the RAS to repo. 33 00:02:13,140 --> 00:02:17,520 So the first thing is going to ask us to do is make sure that our APS repository system is allowed to 34 00:02:17,520 --> 00:02:19,890 utilize universal packages. 35 00:02:19,890 --> 00:02:23,490 So again, by default, unless you're doing something special, they should already be set and we can 36 00:02:23,490 --> 00:02:24,450 actually go ahead and check that. 37 00:02:24,450 --> 00:02:29,610 If I go ahead and reopen this terminal and we get that 500 code that we're actually looking for, which 38 00:02:29,610 --> 00:02:30,450 it shows the output of. 39 00:02:30,450 --> 00:02:36,870 So I'm going to go ahead and split the screens so that we can easily see these commands being run. 40 00:02:38,510 --> 00:02:43,340 So like I said, we get this 500 command, which we saw earlier for Ubuntu 2204. 41 00:02:43,370 --> 00:02:48,500 If you don't see that output, then again you'll be running these commands to be able to set your repository 42 00:02:48,500 --> 00:02:51,680 to install the universal group of app repositories. 43 00:02:51,710 --> 00:02:55,060 Now we're going to be adding the RAS to app repository to our system. 44 00:02:55,070 --> 00:02:59,300 So first we're going to be adding our GPG key with APT. 45 00:02:59,330 --> 00:03:04,550 Now notice you may get depreciation warnings when running these commands just because the latest releases 46 00:03:04,550 --> 00:03:07,520 of Ubuntu are trying to get away from the key systems. 47 00:03:07,520 --> 00:03:09,950 But again, we're just going to follow along with the guide. 48 00:03:12,090 --> 00:03:13,710 So you'll be asked to put in your password. 49 00:03:17,720 --> 00:03:17,960 All right. 50 00:03:17,960 --> 00:03:19,220 I'm going to go ahead and clear the screen. 51 00:03:21,910 --> 00:03:27,490 And then run the second command here, which is actually grabbing the keys from their GitHub repository. 52 00:03:31,380 --> 00:03:32,840 And then we are good to go. 53 00:03:32,850 --> 00:03:35,760 So let's go ahead and add the repository to our sources list. 54 00:03:38,700 --> 00:03:42,210 And now we can go ahead and install our development tools. 55 00:03:42,990 --> 00:03:44,580 So just go ahead and copy this. 56 00:03:47,030 --> 00:03:53,010 And so most of these are going to be Python three related dependencies, but also things like git C 57 00:03:53,030 --> 00:03:55,940 make our build essentials and w get. 58 00:04:00,200 --> 00:04:00,410 Okay. 59 00:04:00,410 --> 00:04:01,610 I'm going to go ahead and clear the screen. 60 00:04:02,270 --> 00:04:07,070 And now we're actually going to get the RAS to code from GitHub and download it to our machine. 61 00:04:07,100 --> 00:04:11,900 Keep in mind that the rest of this guide uses a workspace folder called Ras Humble, which is located 62 00:04:11,900 --> 00:04:13,040 in your home directory. 63 00:04:13,040 --> 00:04:15,770 So it's completely up to you how you want to organize this as you could. 64 00:04:15,770 --> 00:04:20,210 Alternatively, keep this organized within the Workspaces folder we have been using, but to keep things 65 00:04:20,210 --> 00:04:25,250 simple so I can easily copy and paste the commands from this guide, I will just follow along with their 66 00:04:25,250 --> 00:04:29,120 convention of just putting this ROS to humble workspace in the home directory. 67 00:04:29,120 --> 00:04:31,880 So let's go ahead and create the workspace and source folders. 68 00:04:33,440 --> 00:04:38,870 So now I can actually go ahead and open up my file Explorer and we now see this RAS two humble directory 69 00:04:38,870 --> 00:04:40,970 with the source directory. 70 00:04:44,100 --> 00:04:47,130 Then we'll change into the to humble directory in our terminal. 71 00:04:49,130 --> 00:04:50,360 And go ahead. 72 00:04:51,810 --> 00:04:55,050 And begin downloading our raw repo. 73 00:05:07,520 --> 00:05:07,700 Okay. 74 00:05:07,760 --> 00:05:09,830 And after a while, we get this output spit out. 75 00:05:10,100 --> 00:05:15,930 So this just shows all the packages which were included when we were downloading our rosti repos. 76 00:05:15,950 --> 00:05:22,280 So now if we go into that source folder, we will see all of these individual RAR dependencies and packages. 77 00:05:25,120 --> 00:05:28,180 Now, keep in mind, I already have Ross two installed on this machine. 78 00:05:28,180 --> 00:05:28,390 Right. 79 00:05:28,390 --> 00:05:36,070 So if I go ahead and do echo Ross distro, right, I get my humble distribution which I installed utilizing 80 00:05:36,070 --> 00:05:37,190 the Debian binaries. 81 00:05:37,210 --> 00:05:42,460 Now we're going to want to make sure that when we're building this package there are no existing Ross 82 00:05:42,460 --> 00:05:46,000 instances source as it may mess up our build process. 83 00:05:46,000 --> 00:05:49,750 So the thing that sourcing our current binary is our bash RC files. 84 00:05:49,750 --> 00:05:53,620 So if I go ahead and open up our bash RC file in V's code. 85 00:05:57,320 --> 00:05:58,940 I'll go ahead and scroll down to the bottom. 86 00:05:59,150 --> 00:06:04,070 And here we see a lot of the environment set up functionality which we implemented when we installed 87 00:06:04,070 --> 00:06:05,570 our RAS two binary instances. 88 00:06:05,570 --> 00:06:10,160 So all we have to do is highlight these and comment them out using the pound symbol. 89 00:06:10,160 --> 00:06:15,830 Or in this case I just hit control forward slash to automatically comment them out, save the file, 90 00:06:15,830 --> 00:06:21,560 which I'll do with control s And now we should no longer have our instances sourced when we open up 91 00:06:21,560 --> 00:06:22,610 a new terminal. 92 00:06:22,640 --> 00:06:24,500 So I'll have to go ahead and. 93 00:06:25,350 --> 00:06:26,370 Close this terminal. 94 00:06:28,770 --> 00:06:34,560 And now if I do something like Ross to Node list, we see Ross to command not found because Ross too 95 00:06:34,560 --> 00:06:38,430 binary installation is not sourced to these terminal environments. 96 00:06:38,610 --> 00:06:41,640 So let's go ahead and continue following along with the guide. 97 00:06:41,670 --> 00:06:48,570 So here it says we're going to be running apt upgrade and then using Ross DEP to install some dependencies. 98 00:06:48,570 --> 00:06:49,800 So I'll go ahead and do that. 99 00:06:50,010 --> 00:06:51,150 Put in your password. 100 00:06:54,910 --> 00:06:57,100 And then we'll go ahead and run raw, step in it. 101 00:06:59,800 --> 00:07:05,180 And since we already installed ROS before, it'll actually say default sources file already exist. 102 00:07:05,200 --> 00:07:05,980 Don't worry about that. 103 00:07:05,980 --> 00:07:06,760 That's fine. 104 00:07:06,760 --> 00:07:08,680 If we want to re initialize it, we could delete it. 105 00:07:08,680 --> 00:07:13,570 But I'm just going to go ahead and leave it as is since I'm working with the same distribution and I 106 00:07:13,570 --> 00:07:14,560 can go ahead and run. 107 00:07:14,560 --> 00:07:15,760 Raw step update. 108 00:07:27,150 --> 00:07:27,530 All right. 109 00:07:27,540 --> 00:07:30,150 I'm not sure why we're getting this error message. 110 00:07:30,390 --> 00:07:35,280 I actually tried this earlier and this didn't occur, but it seems we were able to add our distributions 111 00:07:35,280 --> 00:07:36,840 just fine when running Rasta updates. 112 00:07:36,840 --> 00:07:38,700 So I'm just going to go ahead and ignore that for now. 113 00:07:41,230 --> 00:07:47,860 And we can go ahead and run the step install and we're going to be essentially pointing it to the source 114 00:07:47,860 --> 00:07:49,170 directory from PATH. 115 00:07:49,180 --> 00:07:52,690 So one thing to keep in mind is we're actually supposed to be changed into our workspace directory because 116 00:07:52,690 --> 00:07:53,590 I close out our terminal. 117 00:07:53,590 --> 00:07:54,880 So let's go ahead and do that now. 118 00:07:59,350 --> 00:08:00,690 Workspace directory. 119 00:08:00,700 --> 00:08:05,590 I can go ahead and run the raw step, install command, which points to our source directory. 120 00:08:12,160 --> 00:08:12,490 All right. 121 00:08:12,490 --> 00:08:13,570 So that took about 2 minutes. 122 00:08:13,570 --> 00:08:20,190 So I'll just go ahead and clear the screen and now we can move on to installing additional DDA implementations. 123 00:08:20,200 --> 00:08:25,120 So if you wanted to use different communication protocols other than the default fast IDs, you can 124 00:08:25,120 --> 00:08:27,760 click on the link to install your preferred communication protocol. 125 00:08:27,760 --> 00:08:33,190 But that's an advanced topic which you will most likely never have to go over in most robotics applications. 126 00:08:33,460 --> 00:08:36,090 Now it's time to actually begin building. 127 00:08:36,100 --> 00:08:39,820 Now here you can see the message that we must build this in an environment that does not have another 128 00:08:39,820 --> 00:08:40,750 ROS instant source. 129 00:08:40,750 --> 00:08:42,550 So we already took care of that earlier. 130 00:08:42,550 --> 00:08:47,710 So again, we can double check that by doing ROS to node list or some other ROS do command and we see 131 00:08:47,710 --> 00:08:48,820 the command is not found. 132 00:08:48,820 --> 00:08:50,860 So we're already in our ROS two humble directory. 133 00:08:50,860 --> 00:08:52,450 So let's go ahead and run. 134 00:08:52,450 --> 00:08:57,880 Our code can build Simulink install like we have with our packages that we created in section four. 135 00:08:57,880 --> 00:09:04,240 But this time we're going to be building all of the ROS packages that we have in our source directory, 136 00:09:04,240 --> 00:09:06,220 including ROS itself. 137 00:09:06,760 --> 00:09:11,290 All right, so this is going to take a long time, so feel free to pause the video here and I'll go 138 00:09:11,290 --> 00:09:14,710 ahead and fast forward and I'll see you when the build is finished. 139 00:09:21,370 --> 00:09:21,700 All right. 140 00:09:21,700 --> 00:09:23,110 So that's gone ahead and built. 141 00:09:23,110 --> 00:09:26,140 And as you can see on my computer, it took just under 30 minutes. 142 00:09:26,170 --> 00:09:32,860 Now, you may be concerned that we see 340 packages finished, but 98 packages had standard error outputs. 143 00:09:32,890 --> 00:09:36,190 Now, you don't have to worry about this because sometimes this tracks anything that may have triggered 144 00:09:36,190 --> 00:09:36,910 warnings. 145 00:09:36,910 --> 00:09:42,610 And one of the issues that we've been seeing a lot in Ubuntu 22.4 is some of the depreciation of the 146 00:09:42,610 --> 00:09:45,170 Python tools or commands which are used. 147 00:09:45,190 --> 00:09:48,190 So this just leads to external depreciation warnings. 148 00:09:48,190 --> 00:09:53,200 So it's not necessarily errors which stopped it from building, but simply these warning messages. 149 00:09:53,200 --> 00:09:55,090 But for now, I'm going to go ahead and clear the screen. 150 00:09:56,200 --> 00:10:01,180 And again, just to show you that we're working with this new ROS two installation, if I do ROS two 151 00:10:01,180 --> 00:10:06,940 node list, right, we see Ros two command not found because I have no ROS instances source. 152 00:10:06,940 --> 00:10:12,730 So now what we can do is source the local setup bash file from our build just like we would with our 153 00:10:12,730 --> 00:10:14,140 normal ROS package. 154 00:10:14,260 --> 00:10:16,030 And I'm actually jumping a bit ahead of myself. 155 00:10:16,030 --> 00:10:18,880 This is actually covered in the next part of the documentation. 156 00:10:18,880 --> 00:10:21,610 So here we see they are sourcing the local setup. 157 00:10:21,760 --> 00:10:25,510 Bash period is the same command as source. 158 00:10:25,510 --> 00:10:31,240 So we just go ahead and source this, right? 159 00:10:31,300 --> 00:10:34,720 So our ROS to humble directory install local setup bash. 160 00:10:36,100 --> 00:10:39,070 And now if we try to run Ras to node list. 161 00:10:40,050 --> 00:10:43,700 We get no output because we currently don't have any nodes running, but we don't get this ROS to command 162 00:10:43,710 --> 00:10:49,680 not found because we are currently sourced to this installation which we built from source. 163 00:10:49,800 --> 00:10:51,810 So we see our build, install and log folders. 164 00:10:51,810 --> 00:10:58,200 So we built ROS to humble from source and we are now utilizing this installation for our ROS to tools 165 00:10:58,200 --> 00:11:01,080 so we can actually go ahead and try some examples. 166 00:11:01,620 --> 00:11:05,430 So you can go ahead and run the talker node, which we've run before many times. 167 00:11:06,360 --> 00:11:08,430 So here we see it publishing Hello World. 168 00:11:09,330 --> 00:11:17,040 And again, if I open a new terminal, if I do ROS two node list, you see command not found because 169 00:11:17,040 --> 00:11:24,130 we need to source our installation, which in this case is the one we built from source. 170 00:11:24,210 --> 00:11:26,160 And now if we run the listener, we see. 171 00:11:26,160 --> 00:11:27,060 I heard Hello World. 172 00:11:27,060 --> 00:11:29,100 So we see Ros is indeed working. 173 00:11:29,100 --> 00:11:34,500 But this time, instead of utilizing the binaries, we're utilizing all the code that we had built from 174 00:11:34,500 --> 00:11:35,340 source. 175 00:11:35,690 --> 00:11:36,900 I'll go ahead and stop these. 176 00:11:37,500 --> 00:11:42,510 All right, so here we see we have an operational ROS to humble installation by downloading the ROS 177 00:11:42,510 --> 00:11:45,270 to source code and building it from scratch. 178 00:11:45,270 --> 00:11:49,140 So again, there are only very limited cases which you would do this mainly if you're installing it 179 00:11:49,140 --> 00:11:55,350 on a special operating system or if you wanted to help contribute to the existing ROS two stack. 180 00:11:56,520 --> 00:11:56,910 All right. 181 00:11:56,910 --> 00:12:02,490 So here we see we have an operational ROS to Humble install, which we obtained by downloading the ROS 182 00:12:02,490 --> 00:12:06,810 to source code along with its dependencies and building it ourself. 183 00:12:06,840 --> 00:12:12,060 In most cases, using the ROS installation binaries will work just fine, but it's good to know how 184 00:12:12,060 --> 00:12:18,480 to build ROS from source in case you want to contribute to ROS or in case you are using specialty systems 185 00:12:18,480 --> 00:12:21,000 which Ros may not immediately support.