ROS2 Crystal Clemmys installation

Installing ROS2 Crystal Clemmys along with ROS bag. You can go through steps or run the ROS2-Crystal-Install.sh. If you want base install, comment the Full install line and uncomment the Base install.

Requirements

• Linux - Ubuntu 18.04

Getting Started

• Make sure to set locale to en_US.UTF-8:

    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
  

• Add the repository to your source list:

    sudo apt update && sudo apt install curl gnupg2 lsb-release 
    curl http://repo.ros2.org/repos.key | sudo apt-key add -
    sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
  

• Set the ROS distribution name that you want to install, in this case is crystal and install it (choose between full install or base install):

    export CHOOSE_ROS_DISTRO=crystal  # or bouncy or ardent
    sudo apt update
    sudo apt install ros-$CHOOSE_ROS_DISTRO-desktop          # Full install
    #sudo apt install ros-$CHOOSE_ROS_DISTRO-ros-base        # Base install
  

If you want to use ROS2 bag consider the following steps, otherwise you can skip them and jump to step 4. ROS2 bag is using ros1_bridge but it is not included in the ROS2 installation of crystal, so we should first add the related repository to our source list:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-$CHOOSE_ROS_DISTRO-ros1-bridge 

• The ROS CLI use argcomplition, so install it:

    sudo apt install python3-argcomplete 
  

• In order to use ROS commands in terminal we need to source the overlay workspace in our .bashrc:

    source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash
    echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
    echo "export CHOOSE_ROS_DISTRO=crystal" >> ~/.bashrc
  

• Install RMW implementation (FastRTPS):

    sudo apt update
    sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-opensplice-cpp   # for OpenSplice
    sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-connext-cpp      # for RTI Connext (requires license agreement)
  

• In this step ROS2 bag will be installed, more information about it can be found here.

    export CHOOSE_ROS_DISTRO=crystal # rosbag2 is available starting from crystal
    sudo apt-get install ros-$CHOOSE_ROS_DISTRO-ros2bag* ros-$CHOOSE_ROS_DISTRO-rosbag2* 
  

• Installing build system for ROS2 (Colcon):

    sudo apt install python3-colcon-common-extensions
  

• Reboot