1 1 00:00:00,000 --> 00:00:04,800 In this lecture we will be learning how to install ROS Foxy 2 2 00:00:05,280 --> 00:00:07,530 on Ubuntu 20.04. 3 3 00:00:08,280 --> 00:00:12,030 These installation steps will be similar for all Debian based 4 4 00:00:12,030 --> 00:00:16,180 Linux distributions, but just note for this course I will 5 5 00:00:16,190 --> 00:00:19,990 be using Ubuntu 20.04 as my operating system. 6 6 00:00:20,240 --> 00:00:22,160 With the browser open, 7 7 00:00:22,170 --> 00:00:25,850 I will navigate to the ROS 2 Foxy installation page. 8 8 00:00:26,240 --> 00:00:31,100 Once here I will Select Debian packages under the binary 9 9 00:00:31,100 --> 00:00:31,970 packages section. 10 10 00:00:33,360 --> 00:00:37,510 Please be careful as to not select the Linux option in the 11 11 00:00:37,520 --> 00:00:38,710 build from Source section. 12 12 00:00:38,900 --> 00:00:42,080 As building ROS 2 from Source can take several hours to 13 13 00:00:42,090 --> 00:00:45,590 compile. There are four main steps to installing ROS 2 14 14 00:00:45,860 --> 00:00:50,350 on our open to machine setting our local, Setting our sources, 15 15 00:00:50,740 --> 00:00:54,730 installing our ROS 2 packages and setting up our environment. 16 16 00:00:55,770 --> 00:00:59,860 The local is generally correctly set up for Utf eight in 17 17 00:00:59,870 --> 00:01:04,099 Ubuntu in order to check, we can open up a terminal and we 18 18 00:01:04,110 --> 00:01:06,890 will run the local command here. 19 19 00:01:06,900 --> 00:01:10,470 We can see that the local is already set to Utf eight so 20 20 00:01:10,920 --> 00:01:15,720 I can leave it as is if your machine does not say UTF 8 follow 21 21 00:01:15,730 --> 00:01:19,650 along with the installation instructions on setting up 22 22 00:01:19,660 --> 00:01:20,130 our sources. 23 23 00:01:20,940 --> 00:01:25,800 We only need to set up our sources for our app repository 24 24 00:01:25,830 --> 00:01:29,080 manager to include ROS 2 and its dependencies. 25 25 00:01:29,440 --> 00:01:34,090 I will copy this command which will run the app update command 26 26 00:01:34,260 --> 00:01:38,640 and install the following dependencies. Careful not to copy 27 27 00:01:38,640 --> 00:01:41,310 both lines as you may need to enter your password. 28 28 00:01:41,320 --> 00:01:44,720 After running the first command, I will put in our password 29 29 00:01:44,870 --> 00:01:47,450 which of course does not show to the terminal for security 30 30 00:01:47,460 --> 00:02:00,000 reasons. Go ahead and hit Y and enter. 31 31 00:02:05,400 --> 00:02:08,470 Then copy the second part of the setup sources. 32 32 00:02:16,370 --> 00:02:19,830 Alright then we will add the repository to our sources list. 33 33 00:02:22,110 --> 00:02:25,970 Now that we have set up our sources, Let's install the ROS 34 34 00:02:25,970 --> 00:02:29,600 package. First we will update our app repository. 35 35 00:02:40,450 --> 00:02:45,220 Then we will go ahead and install ROS Foxy desktop, which 36 36 00:02:45,230 --> 00:02:47,890 will include all of our ROS features and tools. 37 37 00:02:48,200 --> 00:02:51,680 This will take some time depending on your Internet connection 38 38 00:02:51,880 --> 00:02:53,440 and your computer processor. 39 39 00:02:54,130 --> 00:02:57,310 I will go ahead and speed up the video to when the installation 40 40 00:02:57,320 --> 00:03:11,760 finishes. Okay with that, we now have ROS installed onto 41 41 00:03:11,770 --> 00:03:12,270 our computer. 42 42 00:03:15,640 --> 00:03:19,030 Before we can use it, we need to set up our terminal environment 43 43 00:03:19,040 --> 00:03:20,470 to be able to use ROS. 44 44 00:03:20,940 --> 00:03:24,990 In order to use ROS and terminal, we must first source our 45 45 00:03:25,000 --> 00:03:29,240 terminal. The ROS is setup bash file so we can go ahead 46 46 00:03:29,240 --> 00:03:29,990 and source it. 47 47 00:03:30,000 --> 00:03:38,100 Now with this command it is worth noting we will have to 48 48 00:03:38,110 --> 00:03:40,680 run this command every time we open a new terminal. 49 49 00:03:40,690 --> 00:03:44,910 In order to use ROS, we will set up our environment so it 50 50 00:03:44,920 --> 00:03:46,320 automatically sources in a bit. 51 51 00:03:46,440 --> 00:03:49,860 But before I do that we will finish the installation instructions 52 52 00:03:50,060 --> 00:03:52,580 by installing or complete. 53 53 00:03:52,590 --> 00:03:56,060 This will allow us to type ROS commands in and then hit 54 54 00:03:56,070 --> 00:03:59,740 the tab key to allow it to auto complete the command or show 55 55 00:03:59,750 --> 00:04:01,240 available arguments we can use. 56 56 00:04:20,070 --> 00:04:22,720 Alright with that we can actually use ROS. 57 57 00:04:23,000 --> 00:04:26,750 We can test that ROS works in the terminal by running the 58 58 00:04:26,760 --> 00:04:28,250 example code ROS provides. 59 59 00:04:28,460 --> 00:04:32,120 We will go over how these commands were later in the course. 60 60 00:04:32,420 --> 00:04:36,860 For now, we can run our talker publisher node in this terminal. 61 61 00:04:45,310 --> 00:04:54,750 Then I can open a new terminal using Control alt resource 62 62 00:04:54,760 --> 00:04:59,740 the terminal, and run our listener node, which is a subscriber. 63 63 00:04:59,750 --> 00:05:04,060 And here we can see this terminal is subscribing to the messages 64 64 00:05:04,070 --> 00:05:06,410 sent by our publisher node above. 65 65 00:05:06,640 --> 00:05:10,460 To stop these nodes, we can click on the corresponding terminal 66 66 00:05:10,470 --> 00:05:17,460 and hit Control C now to make it so that all of our terminals 67 67 00:05:17,470 --> 00:05:19,980 we open are able to use raw terminal commands. 68 68 00:05:20,130 --> 00:05:23,530 Without having to run this source command, we will have to 69 69 00:05:23,540 --> 00:05:27,440 modify our Bash RC file, which the documentation goes over 70 70 00:05:27,450 --> 00:05:30,320 in the next tutorial, which we can get to by clicking on 71 71 00:05:30,330 --> 00:05:35,010 the tutorials and demo link and clicking on configure your 72 72 00:05:35,020 --> 00:05:36,150 ROS 2 environment. 73 73 00:05:36,260 --> 00:05:40,100 I will Scroll over to the second section where it goes over 74 74 00:05:40,460 --> 00:05:42,740 adding sourcing to your shell startup script. 75 75 00:05:43,460 --> 00:05:46,430 Essentially, it is just using the same source command we 76 76 00:05:46,490 --> 00:05:49,670 used earlier place at the end of our batch RC file. 77 77 00:05:50,300 --> 00:05:54,380 In this case, our distribution we are using is ROS Foxy, 78 78 00:05:54,780 --> 00:06:01,890 so we will change the command to reflect that we can also 79 79 00:06:01,900 --> 00:06:05,460 go down to Section three to the Add Colon CD command. 80 80 00:06:05,600 --> 00:06:08,780 We will go over this command later in this course. 81 81 00:06:09,100 --> 00:06:11,950 Do not worry about running the second line, which exports 82 82 00:06:11,950 --> 00:06:13,210 a colon root directory. 83 83 00:06:13,360 --> 00:06:16,210 This is mainly used if you built the ROS from source. 84 84 00:06:17,250 --> 00:06:20,590 Lastly, if you ever wanted to check that you are properly 85 85 00:06:20,600 --> 00:06:23,500 source and what version of ROS you are running, you can 86 86 00:06:23,510 --> 00:06:25,450 use the Linux command print Env. 87 87 00:06:25,820 --> 00:06:29,480 We can sort through the environment list by using the Grep 88 88 00:06:29,510 --> 00:06:33,490 command to only look for the fields which include ROS underscore. 89 89 00:06:34,030 --> 00:06:38,500 After running it, we can see our ROS version ROS Python 90 90 00:06:38,500 --> 00:06:41,590 version, and that we are using the Foxy ROS distribution. 91 91 00:06:42,730 --> 00:06:43,730 Congratulations. 92 92 00:06:43,740 --> 00:06:46,610 With that, you have successfully installed ROS. 93 93 00:06:47,060 --> 00:06:50,120 Feel free to look over the ROS 2 documentation website 94 94 00:06:50,120 --> 00:06:52,610 pages for more information if you are interested. 95 95 00:06:52,620 --> 00:06:56,190 But with that, Let's move on to installing our Code editor.