How_to_install_ros.md

How to install ros

last update 2022 7.25 by Minjae Lee.
last update 2022 7.22 by Minjae Lee.

This manual explain how to install ros melodic in ubuntu.

reference link <- how ti install ros melodic in ubuntu.

1. setting sources.list (not 2 line, only 1 command line)

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. setting keys

$ sudo apt install curl # if you haven't already installed curl
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. before install, update apt

$ sudo apt update

4. Install Desktop full (recommand) -> ROS, rqt,rviz,robot-generic libraries, 2D/3D simulators and 2D/3D perception.
   -> this command line install main ros library.

$ sudo apt install ros-melodic-desktop-full

5. enviroment setting

• Setting to automatically add loss environment variables (Every time a new shell runs)

$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

• If you want to modify environmental variables at the current shell.

$ source /opt/ros/melodic/setup.bash

• If you want to use zsh instead of bash,

 $ echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
 $ source ~/.zshrc

6. Dependencies for building packages

• To install too or other loss package building dependencies

$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

• Initialize rosdep

$ sudo apt install python-rosdep (Need to initialize before using ROS)

$ sudo rosdep init
$ rosdep update

Test after installing ros (turtleim)

1. implement roscore
   Open the terminal and execute the roscore command. Then the roscore governing the system is implemented.
   

   $ roscore
   

2. Run turtlesim_node in turtlesim package.
   Open a new terminal and execute the following command: Then the info is printed on the terminal, and there is a turtle on the blue background.
   

   $ rosrun turtlesim turtlesim_node
   

3. Running turtleneck_teleop_key in turtleneck package.
   Open a new terminal and execute the following command: And if you move the direction key at the terminal, the turtle moves.
   

   $ rosrun turtlesim turtle_teleop_key
   

If the above 1-3 works well, the installation is completed well.