1 1 00:00:00,000 --> 00:00:04,500 In this lecture we will be learning how to install ROS 2 2 2 00:00:04,960 --> 00:00:06,790 Foxy on Windows 10. 3 3 00:00:07,140 --> 00:00:11,170 This is a fresh install of Windows 10, so I have nothing 4 4 00:00:11,180 --> 00:00:15,740 except the default programs installed. With a browser open, 5 5 00:00:16,000 --> 00:00:19,750 I will navigate to the ROS Foxy Installation page. 6 6 00:00:20,330 --> 00:00:25,380 Once here I will Select the Windows option under the Binary 7 7 00:00:25,440 --> 00:00:26,400 Packages section. 8 8 00:00:27,110 --> 00:00:31,750 Please be careful as to not Select the Windows option in 9 9 00:00:31,760 --> 00:00:35,290 the Build from Source section, as building rows two from Source 10 10 00:00:35,520 --> 00:00:37,410 can take several hours to compile. 11 11 00:00:38,520 --> 00:00:41,970 There are three main steps to installing ROS 2 on our 12 12 00:00:41,980 --> 00:00:46,280 Windows machine, installing prerequisites, installing ROS2 13 13 00:00:46,280 --> 00:00:48,580 and setting up our environment. 14 14 00:00:48,960 --> 00:00:52,090 The first is installing our prerequisites. 15 15 00:00:52,260 --> 00:00:56,400 The first prerequisite is a package manager called Choco. 16 16 00:00:56,580 --> 00:00:58,680 We can head over to the website. 17 17 00:00:58,690 --> 00:01:01,560 In this case I will right click on it and open the link in 18 18 00:01:01,570 --> 00:01:01,830 a new tab. 19 19 00:01:01,840 --> 00:01:09,800 Navigate to the Install Now button, and then we will need 20 20 00:01:09,810 --> 00:01:13,580 to run commands in Windows PowerShell with administrative 21 21 00:01:13,590 --> 00:01:17,020 privileges, so I'll go ahead and right click on the Windows 22 22 00:01:17,030 --> 00:01:20,710 logo in the bottom left of the screen and hit Windows PowerShell 23 23 00:01:20,720 --> 00:01:25,660 admin. You will be prompted to allow the app to make changes 24 24 00:01:25,670 --> 00:01:26,230 to your device. 25 25 00:01:26,240 --> 00:01:33,050 Hit Yes. Now this part is optional, but the blue background 26 26 00:01:33,060 --> 00:01:36,360 of the Power shell with the white text can be hard to look 27 27 00:01:36,370 --> 00:01:39,420 at. I'll right click on the top bar of the Power Shell. 28 28 00:01:39,540 --> 00:01:41,160 Select Properties... 29 29 00:01:41,170 --> 00:01:46,660 Go to the Color tab and with screen background selected I 30 30 00:01:46,670 --> 00:01:51,340 will choose the black background color and Hit OK. Now for 31 31 00:01:51,350 --> 00:01:55,020 this to take effect, I will clear the screen, and now we can 32 32 00:01:55,030 --> 00:01:58,470 see our new PowerShell color, which is now a black background 33 33 00:01:58,480 --> 00:02:01,840 with white text which is generally easier to see for students. 34 34 00:02:02,940 --> 00:02:07,120 Now we will run this command to install our Choco Package 35 35 00:02:07,120 --> 00:02:11,080 Manager, so I'll hit the copy to Clipboard button and then 36 36 00:02:11,090 --> 00:02:14,670 to paste it into our PowerShell simply right click and it 37 37 00:02:14,670 --> 00:02:16,410 pastes the command into it. 38 38 00:02:16,420 --> 00:02:18,270 You can go ahead and hit Enter. 39 39 00:02:21,980 --> 00:02:25,860 For the most part we can disregard most of the warning messages 40 40 00:02:25,860 --> 00:02:30,550 which appear you can check to see if it is installed by running 41 41 00:02:30,560 --> 00:02:35,020 the Choco command and here in green text we can see we are 42 42 00:02:35,030 --> 00:02:38,370 running Choco version 10.15. 43 43 00:02:39,240 --> 00:02:42,510 Don't worry if your version is slightly different than mine. 44 44 00:02:43,590 --> 00:02:46,750 Next we'll move on to installing Python. 45 45 00:02:46,960 --> 00:02:52,660 So within our Power shell we will now run this command to 46 46 00:02:52,670 --> 00:02:55,420 use our Choco Package Manager, which we just installed to 47 47 00:02:55,430 --> 00:02:57,940 install version 3.83 of Python. 48 48 00:02:58,280 --> 00:03:01,910 First, I'll just clear the screen and we will right click 49 49 00:03:01,910 --> 00:03:02,840 to paste the command. 50 50 00:03:03,060 --> 00:03:08,910 Hit Enter and we can see that it's now installing Python. 51 51 00:03:10,370 --> 00:03:14,070 Please note that if you have another version of Python or 52 52 00:03:14,080 --> 00:03:17,890 an Environment Manager like Anaconda installed, these installation 53 53 00:03:17,900 --> 00:03:19,990 versions may conflict with each other. 54 54 00:03:21,790 --> 00:03:26,000 Alright, our Python 3 has been installed and we can double 55 55 00:03:26,010 --> 00:03:36,290 check by closing this PowerShell and opening a new one and 56 56 00:03:36,300 --> 00:03:38,930 typing in Python --version. 57 57 00:03:39,620 --> 00:03:44,090 And here we can see our Python is version 3.83. 58 58 00:03:44,650 --> 00:03:48,320 You can also verify that Python was installed in the correct 59 59 00:03:48,330 --> 00:03:54,140 directory by opening our File Explorer going to this PC going 60 60 00:03:54,150 --> 00:03:58,010 into our C drive and we can see our Python 38 folder. 61 61 00:03:59,730 --> 00:04:04,930 Now we will install our C redistributable with this command, 62 62 00:04:06,010 --> 00:04:15,350 so I'll right click in our Power shell and enter and after 63 63 00:04:15,360 --> 00:04:19,720 a while we can see it has downloaded and installed next we 64 64 00:04:19,730 --> 00:04:21,790 will move on to installing Open SSL. 65 65 00:04:22,240 --> 00:04:27,670 I'll right click on the link here and head over to that tab. 66 66 00:04:28,240 --> 00:04:30,730 Scroll down to the download section. 67 67 00:04:31,240 --> 00:04:33,790 Do not download the light version. 68 68 00:04:33,800 --> 00:04:38,040 Make sure to get the full version of Open SSL, which is here 69 69 00:04:38,100 --> 00:04:41,700 is the second entry so I will Select the link to download. 70 70 00:04:46,810 --> 00:04:50,060 Once the EXE is downloaded, we can go ahead and run it by 71 71 00:04:50,070 --> 00:04:50,720 clicking on it. 72 72 00:04:50,840 --> 00:04:56,660 I will be prompted to allow this app to make changes to our 73 73 00:04:56,670 --> 00:04:57,380 device will hit. 74 74 00:04:57,410 --> 00:05:03,360 Yes, we will go ahead and accept the license agreement and 75 75 00:05:03,370 --> 00:05:05,400 then leave the destination folder as a default. 76 76 00:05:05,500 --> 00:05:06,970 Hit next. 77 77 00:05:07,710 --> 00:05:10,870 Hit next and we will hit install. 78 78 00:05:16,260 --> 00:05:17,590 Okay, great. 79 79 00:05:17,600 --> 00:05:19,480 So we finished installing Open SSL. 80 80 00:05:19,820 --> 00:05:24,540 I'll Uncheck the donation tab and Hit finish and so now that 81 81 00:05:24,550 --> 00:05:27,540 it is installed, we have to set up our environment and path 82 82 00:05:27,660 --> 00:05:30,120 variables. To set up our Environment variable. 83 83 00:05:30,130 --> 00:05:31,650 I will run this command here. 84 84 00:05:32,340 --> 00:05:37,360 Control C and I will go ahead and clear the terminal so you 85 85 00:05:37,370 --> 00:05:40,890 can see what I'm currently doing. Then right click, hit Enter, 86 86 00:05:40,900 --> 00:05:42,720 and it's a success. 87 87 00:05:42,730 --> 00:05:44,340 Our specified value is saved. 88 88 00:05:44,520 --> 00:05:49,960 Then in the Windows Search bar search for Environment variables 89 89 00:05:51,100 --> 00:05:54,820 in the Advanced tab, click the Environment Variables button 90 90 00:05:55,000 --> 00:05:56,020 towards the bottom 91 91 00:05:56,030 --> 00:05:56,350 right 92 92 00:05:57,150 --> 00:06:01,730 Then in the System Variable section we will click on our 93 93 00:06:01,740 --> 00:06:04,160 path and we will click on Edit. 94 94 00:06:04,500 --> 00:06:08,820 We will create a new entry within our Environment valuable 95 95 00:06:08,830 --> 00:06:14,550 list and we will copy our installation of our Open SSL, which 96 96 00:06:14,560 --> 00:06:15,120 is right here. 97 97 00:06:15,420 --> 00:06:23,190 We can copy it using Control C, and under our new tab, Control 98 98 00:06:23,220 --> 00:06:29,570 V and we paste it in. In case you need to confirm that this 99 99 00:06:29,580 --> 00:06:33,290 is indeed the location of our Open SSL can open a File Explorer, 100 100 00:06:33,780 --> 00:06:43,030 go to this PC local disk program files Open SSL and we can 101 101 00:06:43,040 --> 00:06:46,150 indeed see that the file locations match. 102 102 00:06:48,500 --> 00:06:50,160 I'll go ahead and hit 103 103 00:06:50,170 --> 00:06:53,290 Okay on both Windows... or all three Windows. 104 104 00:06:55,740 --> 00:06:59,350 Next we will install Visual Studio 2019. 105 105 00:06:59,420 --> 00:07:04,120 I will not be using Visual Studio as a code editor, but ROS 106 106 00:07:04,180 --> 00:07:08,650 needs all the Visual C features that come with it so we will 107 107 00:07:08,660 --> 00:07:09,910 head over to the download page. 108 108 00:07:10,580 --> 00:07:15,740 I can go ahead and close our Open SSL web page and we will 109 109 00:07:15,750 --> 00:07:19,700 download the free community edition of Visual Studio 2019. 110 110 00:07:19,760 --> 00:07:26,720 So click on the download button and we can see that it begins 111 111 00:07:26,750 --> 00:07:30,570 downloading. Once it finishes downloading, we can go ahead 112 112 00:07:30,580 --> 00:07:36,380 and launch. Allow the app to make changes. 113 113 00:07:39,560 --> 00:07:52,550 Hit continue and it will begin downloading. When we get to 114 114 00:07:52,560 --> 00:07:53,450 the workload section, 115 115 00:07:53,460 --> 00:07:56,300 you will Select the desktop development with C++ 116 116 00:07:56,310 --> 00:07:58,650 option in the right. 117 117 00:07:58,660 --> 00:08:01,910 We can configure what gets installed to go along with this 118 118 00:08:01,920 --> 00:08:02,780 desktop development. 119 119 00:08:03,740 --> 00:08:10,380 We will Uncheck the C Make tools for Windows as we will 120 120 00:08:10,390 --> 00:08:12,600 be installing CMake later on manually. 121 121 00:08:12,800 --> 00:08:19,310 With that I will go ahead and Hit install and Visual Studio 122 122 00:08:19,320 --> 00:08:21,830 will begin downloading and installing our packages. 123 123 00:08:22,290 --> 00:08:25,720 This installation will take a while, so feel free to pause 124 124 00:08:25,730 --> 00:08:28,840 the video and come back once it finishes installing on your 125 125 00:08:28,850 --> 00:08:44,870 machine. Okay with that, our Visual Studio is installed. 126 126 00:08:45,060 --> 00:08:46,740 I'll go ahead and close this. 127 127 00:08:48,060 --> 00:08:52,540 Go ahead and exit Visual Studio. 128 128 00:08:53,340 --> 00:08:58,480 We close the download tab and go on to the next step. 129 129 00:08:58,720 --> 00:09:03,520 We will not use other DDS implementations in this course 130 130 00:09:03,780 --> 00:09:06,930 so we can skip this step and move on to installing Open CV. 131 131 00:09:07,920 --> 00:09:12,140 Opencv is a popular computer vision framework, and we will 132 132 00:09:12,150 --> 00:09:13,790 be using it in the Services project. 133 133 00:09:13,800 --> 00:09:17,360 We will go ahead and download the pre compiled version of 134 134 00:09:17,370 --> 00:09:19,310 Open CV from the provided link. 135 135 00:09:22,480 --> 00:09:25,640 This download may take a while, depending on your Internet 136 136 00:09:25,650 --> 00:09:28,160 speed. All right, with that we can go ahead and click on 137 137 00:09:28,170 --> 00:09:32,930 it show and folder and so here we can see it in our Downloads 138 138 00:09:32,930 --> 00:09:37,450 folder so we'll have to unzip. Open ... which we can do 139 139 00:09:37,460 --> 00:09:41,920 by right clicking on the file and selecting the Extract All 140 140 00:09:41,930 --> 00:09:45,210 option. We will extract it here in our Downloads folder so 141 141 00:09:45,220 --> 00:09:46,170 I'll just hit extract. 142 142 00:09:51,560 --> 00:09:55,920 Once it finishes extracting, we will take the Open CV folder 143 143 00:09:56,220 --> 00:09:59,850 and copy it over to our C drive directory so I'll click on 144 144 00:09:59,860 --> 00:10:03,890 the folder, copy it with Control C then in the left pane 145 145 00:10:04,080 --> 00:10:10,310 under my PC, click on my local disk C drive and simply paste 146 146 00:10:10,320 --> 00:10:17,120 it right here so that now we have our Open CV folder in our 147 147 00:10:17,130 --> 00:10:21,840 directory which is mentioned within the install directions. 148 148 00:10:23,540 --> 00:10:27,470 Now we will have to set our environment variable, so we'll 149 149 00:10:27,480 --> 00:10:32,670 go ahead and copy this command and I will paste it into our 150 150 00:10:32,680 --> 00:10:34,890 power shell by right clicking. 151 151 00:10:35,240 --> 00:10:40,360 We can see that our specified value is safe and then we will 152 152 00:10:40,370 --> 00:10:48,110 again have to go into our environment variables, select Path 153 153 00:10:48,170 --> 00:10:53,870 and System Variables edit and this time we will add our Open 154 154 00:10:53,880 --> 00:10:59,430 CV bin directory to our path environment variable. 155 155 00:10:59,440 --> 00:11:05,650 So I hit new and paste this in like So and hit OK on all 156 156 00:11:05,660 --> 00:11:06,250 the Windows. 157 157 00:11:07,740 --> 00:11:11,260 Now we can go ahead and install other ROS dependencies, 158 158 00:11:11,380 --> 00:11:14,860 so the first one we'll be installing is our Cmake, so we will 159 159 00:11:14,870 --> 00:11:20,500 do Choco install Cmake, which I can do by pasting into this power 160 160 00:11:20,510 --> 00:11:26,940 shell, then hit enter. If you end up with an error stating that 161 161 00:11:26,950 --> 00:11:28,350 CMake can not be found, 162 162 00:11:28,600 --> 00:11:31,930 That simply means you need to restart your power shell, so 163 163 00:11:32,500 --> 00:11:34,540 I'll go ahead and close this one that we have. 164 164 00:11:34,550 --> 00:11:36,460 I'll right click on Windows, 165 165 00:11:36,720 --> 00:11:38,700 Click Windows PowerShell Admin. 166 166 00:11:39,020 --> 00:11:46,320 Move this over to the right... and we will re run 167 167 00:11:46,330 --> 00:11:49,680 the same command: Choco install CMake. 168 168 00:11:50,280 --> 00:11:56,360 We will paste it in it: right click and hit enter... and here 169 169 00:11:56,370 --> 00:11:57,980 we can see now it is downloading. 170 170 00:12:07,450 --> 00:12:08,450 Okay. 171 171 00:12:08,480 --> 00:12:11,840 And now just as we did with Open SSL and open CV, you'll 172 172 00:12:11,850 --> 00:12:14,030 have to go in and change our environment variables. 173 173 00:12:16,540 --> 00:12:25,100 Go into our path, click Edit and here we will go ahead and 174 174 00:12:25,110 --> 00:12:27,680 copy the location to our CMake Bin folder. 175 175 00:12:27,860 --> 00:12:32,260 So I'll go ahead and copy this back to our environment variables. 176 176 00:12:32,270 --> 00:12:36,490 You paste it in and as usual we can check to make sure this 177 177 00:12:36,500 --> 00:12:37,540 is the proper file path. 178 178 00:12:37,570 --> 00:12:45,280 By opening our File Explorer like this PC, C, program files. 179 179 00:12:45,640 --> 00:12:48,400 here we can see our CMake and Bin folder. 180 180 00:12:48,680 --> 00:12:54,160 So hit okay on all of these windows now into installing the 181 181 00:12:54,170 --> 00:12:57,610 other dependencies, we'll navigate to the link and download 182 182 00:12:57,620 --> 00:13:02,490 the seven packages listed so I will go ahead and install 183 183 00:13:02,500 --> 00:13:12,400 - 184 184 00:13:12,400 --> 00:13:13,600 packages. 185 185 00:13:13,920 --> 00:13:17,070 I show folder. 186 186 00:13:17,460 --> 00:13:26,060 We should have (counting) 1, 2, 3, 4, 5, 6, 7 packages which are the ones listed 187 187 00:13:26,070 --> 00:13:32,510 here. Once these packages are downloaded, we'll open our 188 188 00:13:32,520 --> 00:13:34,010 Power shell, which we have here. 189 189 00:13:34,020 --> 00:13:40,580 I'll go ahead and clear the screen and we will use Choco 190 190 00:13:40,760 --> 00:13:42,410 to install these packages. 191 191 00:13:42,840 --> 00:13:44,880 So go ahead and copy this command. 192 192 00:13:44,890 --> 00:13:48,420 We will paste it into our PowerShell and before we run it 193 193 00:13:48,430 --> 00:13:51,860 we need to change our path to our Downloads folder right 194 194 00:13:51,870 --> 00:13:58,910 here. And to get your path to your downloads folder, 195 195 00:13:59,000 --> 00:14:02,150 simply using your File Explorer... 196 196 00:14:02,380 --> 00:14:04,510 Click on one of the files you just downloaded. 197 197 00:14:04,520 --> 00:14:05,740 Right click on it... 198 198 00:14:05,750 --> 00:14:10,090 Select Properties... and here under the location section you 199 199 00:14:10,100 --> 00:14:14,140 can see the file path to this file. So I go ahead and copy 200 200 00:14:14,140 --> 00:14:21,290 this and we can paste it here in this portion of the command 201 201 00:14:22,280 --> 00:14:32,030 and now we can go ahead and run this. Once it is finished 202 202 00:14:32,040 --> 00:14:35,720 installing we will also need to install our Python dependencies. 203 203 00:14:35,900 --> 00:14:39,320 So I'll go ahead and close this Power shell because we will 204 204 00:14:39,330 --> 00:14:40,070 need to refresh it. 205 205 00:14:40,080 --> 00:14:42,320 Since changes have been made to our environment variables. 206 206 00:14:42,920 --> 00:14:45,960 I'll go ahead and close the Downloads folder. 207 207 00:14:45,970 --> 00:14:54,810 For now we will open a new Power shell is admin and we will 208 208 00:14:54,820 --> 00:14:56,640 run this Python installation command. 209 209 00:14:58,770 --> 00:15:00,190 Hit enter. 210 210 00:15:08,310 --> 00:15:09,790 All right... The 211 211 00:15:09,910 --> 00:15:14,550 Command ran with errors, so I will go ahead and try to upgrade 212 212 00:15:14,560 --> 00:15:22,170 my pip to see if this solves my issue using the command here: 213 213 00:15:22,760 --> 00:15:28,080 control shift C... and then paste it in with the right mouse 214 214 00:15:28,090 --> 00:15:30,510 button. Don't include the apostrophes. 215 215 00:15:33,980 --> 00:15:36,170 We will go ahead and hit enter. 216 216 00:15:40,630 --> 00:15:44,720 Alright, now that we are using a newer version of Pip, I'll 217 217 00:15:44,730 --> 00:15:47,610 go ahead and clear the screen, and I will try to rerun our 218 218 00:15:47,620 --> 00:15:48,540 installation command. 219 219 00:15:48,550 --> 00:15:53,150 So I'll just simply hit the up arrow three times and hit 220 220 00:15:53,160 --> 00:16:04,090 enter... and here we can see this time it successfully ran without 221 221 00:16:04,100 --> 00:16:06,640 any errors. So we'll go ahead and clear the screen. 222 222 00:16:06,840 --> 00:16:14,320 We will also need to install the RQT dependencies, so I will 223 223 00:16:14,330 --> 00:16:15,880 copy those as well here. 224 224 00:16:15,890 --> 00:16:20,650 So control C and paste it in using the right click... Hit enter. 225 225 00:16:25,850 --> 00:16:26,850 Alright. 226 226 00:16:26,860 --> 00:16:29,970 And now I'll go ahead and install graph by using Choco 227 227 00:16:32,760 --> 00:16:35,610 I will go ahead and hit y enter. 228 228 00:16:39,300 --> 00:16:42,970 Alright, now we need to include graph to our environment 229 229 00:16:43,030 --> 00:16:46,210 variables as we've done before we go ahead and open them 230 230 00:16:46,220 --> 00:16:50,440 up. Go to our path. 231 231 00:16:50,590 --> 00:16:55,600 Edit and we'll use this as our path. 232 232 00:16:55,600 --> 00:16:58,150 Oh it looks like it depends on our version of graph is so 233 233 00:16:58,160 --> 00:16:59,950 I'll go ahead and open up our File Explorer. 234 234 00:17:00,100 --> 00:17:04,599 I go to this PC or C drive. 235 235 00:17:07,940 --> 00:17:11,869 So here it's installed in our program files directory. 236 236 00:17:11,880 --> 00:17:13,700 So I'll go ahead and click on this. 237 237 00:17:13,790 --> 00:17:17,210 Click on our bin folder and I'll just click on any file here. 238 238 00:17:17,220 --> 00:17:20,900 Click on properties and I'll just get the location. 239 239 00:17:20,910 --> 00:17:25,750 So this is the location of our graph is so I hit control C 240 240 00:17:25,760 --> 00:17:26,410 to copy. 241 241 00:17:26,440 --> 00:17:31,950 Okay, I'll minimize this and go back to our environment variables, 242 242 00:17:32,300 --> 00:17:37,100 create a new path and paste it in and there you see we have 243 243 00:17:37,110 --> 00:17:40,260 included our graph is so I'll go ahead and hit 244 244 00:17:40,270 --> 00:17:42,810 "Okay" on all three windows. 245 245 00:17:44,970 --> 00:17:48,910 Now with all these steps finally out of the way, Let's get 246 246 00:17:48,920 --> 00:17:51,450 to actually installing ROS Foxy. 247 247 00:17:52,080 --> 00:17:57,850 We will head over to the Releases page and Select the most 248 248 00:17:57,860 --> 00:18:01,600 recent version of ROS 2 Foxy Fitzroy. 249 249 00:18:01,840 --> 00:18:06,250 In this case, for me it is patch Release four, so I'll go 250 250 00:18:06,260 --> 00:18:07,540 ahead and click under the assets 251 251 00:18:07,870 --> 00:18:12,180 drop down and I will Select the Windows Release version. 252 252 00:18:12,380 --> 00:18:17,600 Don't download the Windows Debug version. Depending on your 253 253 00:18:17,610 --> 00:18:20,810 internet, this may take some time to download, so feel free 254 254 00:18:20,820 --> 00:18:23,470 to pause the video here and come back once you finish your 255 255 00:18:23,480 --> 00:18:26,020 download. Alright, our download has finished. 256 256 00:18:26,120 --> 00:18:30,230 Now we have to extract the files so go to 257 257 00:18:30,520 --> 00:18:37,090 I will right click and it extract all now rather than extracting 258 258 00:18:37,100 --> 00:18:40,750 it here, I'll actually extract it into a folder called 'dev' 259 259 00:18:41,000 --> 00:18:43,430 in our C file directory. 260 260 00:18:43,460 --> 00:18:47,580 I'll go ahead and hit extract... and this will take a while 261 261 00:18:47,640 --> 00:18:51,240 since the folder is very large so feel free to pause the 262 262 00:18:51,250 --> 00:18:52,230 video and come back. 263 263 00:18:52,240 --> 00:18:53,910 Once yours is finished extracting. 264 264 00:18:54,310 --> 00:18:58,490 Once it is finished extracting we can see our extracted folder. 265 265 00:18:58,640 --> 00:19:03,830 We will go ahead and change the name of our folder from ROS 266 266 00:19:03,890 --> 00:19:08,740 Windows, to ROS 2 underscore Foxy. 267 267 00:19:10,060 --> 00:19:11,110 Great. 268 268 00:19:11,110 --> 00:19:13,090 We have finally installed ROS. 269 269 00:19:13,400 --> 00:19:15,620 I'm going to go ahead and close all these windows. 270 270 00:19:15,630 --> 00:19:20,280 Now we'll close our power shell. 271 271 00:19:20,840 --> 00:19:29,370 I will close this last window and now to run ROS, we can 272 272 00:19:29,380 --> 00:19:40,070 go ahead and open up a command prompt to make CMD and we 273 273 00:19:40,080 --> 00:19:41,960 can source it using this command here. 274 274 00:19:42,190 --> 00:19:46,340 So this allows our command prompt the cross installation. 275 275 00:19:48,830 --> 00:19:51,810 Alright, we get a warning message but we can just ignore 276 276 00:19:51,820 --> 00:19:52,230 it for now. 277 277 00:19:52,240 --> 00:19:53,790 So I'll go ahead and clear the screen. 278 278 00:19:53,800 --> 00:19:55,140 One sourced, 279 279 00:19:55,380 --> 00:19:59,460 we can try to run example nodes. Here's the command for running 280 280 00:19:59,470 --> 00:20:01,680 an example publisher node called Talker. 281 281 00:20:01,900 --> 00:20:06,670 You will go ahead and run this Node in the command prompt, 282 282 00:20:09,470 --> 00:20:13,990 and here we see messages being published titled Hello World. 283 283 00:20:14,320 --> 00:20:24,650 We can then open a second command prompt and run 284 284 00:20:24,660 --> 00:20:32,040 a second subscriber node called Listener, as shown here, and 285 285 00:20:32,050 --> 00:20:34,380 says ROS is unable to recognize this command. 286 286 00:20:34,440 --> 00:20:37,650 That is because we need to source our terminal environment 287 287 00:20:37,660 --> 00:20:39,600 every time we open a new command prompt. 288 288 00:20:39,610 --> 00:20:42,810 So I'll go ahead and rerun this command right here... 289 289 00:20:46,480 --> 00:20:50,870 Clear the screen, and I will try to run my listener again. 290 290 00:20:54,700 --> 00:20:59,590 And this time we see our listener receiving the messages 291 291 00:20:59,600 --> 00:21:00,940 from our publisher node 292 292 00:21:01,030 --> 00:21:01,810 here, up above. 293 293 00:21:02,260 --> 00:21:05,530 Here, you can see this matching and the correlating topics. 294 294 00:21:08,370 --> 00:21:09,370 Congratulations. 295 295 00:21:09,660 --> 00:21:12,990 With that, you have successfully configured your windows 296 296 00:21:12,990 --> 00:21:19,110 machine to be able to run ROS 2. As a side note, to stop 297 297 00:21:19,120 --> 00:21:21,690 running the nodes that are currently running in these terminals, 298 298 00:21:21,860 --> 00:21:25,610 you can simply click on the terminal and hit control C, which 299 299 00:21:25,620 --> 00:21:28,880 will take us back to our prompt, and you can go ahead and 300 300 00:21:28,890 --> 00:21:29,750 close these windows. 301 301 00:21:30,710 --> 00:21:31,710 Congratulations. 302 302 00:21:31,720 --> 00:21:34,110 You have successfully installed ROS. 303 303 00:21:34,650 --> 00:21:37,500 Feel free to look over the ROS 2 documentation website 304 304 00:21:37,530 --> 00:21:40,020 pages for more information if you are interested. 305 305 00:21:40,030 --> 00:21:43,590 But with that, Let's move on to installing our Code editor.