ROBOCUP

Install Ros2 Humble (Ubuntu 22.04 LTS)

Ros2 Humble

locale

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

source /opt/ros/humble/setup.bash
ros2 topic list

Add source /opt/ros/humble/setup.bash to ~/.bashrc file to source ros2 automatically on all new terminals

Add Groups

sudo usermod -aG video $USER
sudo usermod -aG audio $USER
sudo usermod -a -G dialout $USER

Restart to take effect

Install Dependencies

Ros2 Packages

sudo apt update
sudo apt install python3-colcon-common-extensions
sudo apt-get install ros-humble-ros-gz
sudo apt install ros-humble-image-transport-plugins
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt-get install ros-humble-rviz2 ros-humble-tf2-ros ros-humble-tf2-tools
sudo apt install v4l-utils ros-humble-v4l2-camera
sudo apt install ros-humble-twist-mux
sudo apt install ros-humble-slam-toolbox
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
sudo apt install ros-humble-ros-gz
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gazebo-ros2-control

RealSense SDK

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

RealSense Ros2 Wrapper

sudo apt install ros-humble-realsense2-*

YDLidar SDK

1. Run steps in terminal (home dir) (Ubuntu):

   sudo apt install cmake pkg-config
   sudo apt-get install python swig
   sudo apt-get install python-pip
   git clone https://github.com/YDLIDAR/YDLidar-SDK.git
   cd YDLidar-SDK
   mkdir build
   cd build
   cmake ..
   make
   sudo make install
   

YDLidar ROS2 Wrapper

1. New terminal (home dir):

   git clone -b humble https://github.com/YDLIDAR/ydlidar_ros2_driver.git
   cd ydlidar_ros2_driver
   colcon build --symlink-install
   

2. Edit ~/.bashrc file:

   source ~/ydlidar_ros2_driver/install/setup.bash
   

~/.bashrc file

#
# PREDEFINED CONFIGURATIONS
#

source /opt/ros/humble/setup.bash
source ~/ydlidar_ros2_driver/install/setup.bash
# path to ydlidar setup file assuming package is build from source, with project root dir at HOME

Build & Run

1. Resolve Dependencies

rosdep install -i --from-path src --rosdistro humble -y

1. Run colcon build in workspace root

   colcon build --symlink-install
   

2. Source the setup file. Source the other packages too, or add them to ~/.bashrc

   source install/setup.bash
   

3. Run ros2 launch

   ros2 launch main_package launch_sim.launch.py
   

VS Code Preferences (User JSON)

• yapf (EeyoreLee)

• XML (Red Hat)

{
  "workbench.colorTheme": "Default High Contrast",
  "[python]": {
    "editor.formatOnSaveMode": "file",
    "editor.formatOnSave": true,
    "editor.defaultFormatter": "eeyore.yapf",
    "editor.formatOnType": false,
  },
  "yapf.args": [
    "--style={based_on_style: google, column_limit: 80, indent_width: 4}",
    "--style={based_on_style: pep8; DEDENT_CLOSING_BRACKETS: True}",
    "--style={based_on_style: pep8; ALLOW_SPLIT_BEFORE_DICT_VALUE: False, SPLIT_ALL_COMMA_SEPARATED_VALUES: True}"
  ],
  "redhat.telemetry.enabled": true,
  "[xml]": {
    "editor.defaultFormatter": "redhat.vscode-xml",
    "editor.tabSize": 4,
    "editor.trimAutoWhitespace": true,
    "editor.formatOnSaveMode": "file",
    "editor.formatOnSave": true,
  },
  "xml.format.maxLineWidth": 120,
  
}

Main Package Template

• https://github.com/joshnewans/my_bot

Follow the Setup Notes If You Run Into Any Isseus

• Setup Notes