Getting Started with ROS

ROS Software Setup

Note

The following installation is assumed to be taking place on a Nvidia Jetson Nano.

Install ROS Melodic:

  1. Setup computer to accept software for package.ros.org:

sudo apt-get update download package information from all configured sources.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

  1. Set up your 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 -

  1. Update Debian package index:

sudo apt update

  1. Install ROS package:

sudo apt install ros-melodic-desktop-full

  1. Setup the environment:

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

  1. Install Dependencies for building packages:

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

  1. Initialize rosdep:

sudo apt install python-rosdep
sudo rosdep init
rosdep update

  1. Install Catkin (ROS Build System):

sudo apt-get install ros-melodic-catkin python-catkin-tools

  1. Creating Catkin Workspace:

9.1. Make directory for workspace:

mkdir -p ~/ws_(workspacename)/src
cd ~/ws_(workspacename)/src

9.2. Install pegasus-mini package and various other dependent packages:

git clone https://github.com/protogarden/pegasus-mini.git
sudo apt install ros-melodic-rplidar-ros
sudo apt-get install ros-melodic-joy ros-melodic-joystick-drivers
sudo apt install ros-melodic-teleop-twist-joy
sudo apt install python3-pip
sudo pip3 install tornado
sudo pip3 install psutil
sudo pip3 install simplejpeg
sudo pip3 install rospkg
git clone https://github.com/dheera/rosboard.git
sudo apt-get install ros-melodic-cartographer ros-melodic-cartographer-ros ros-melodic-cartographer-ros-msgs ros-melodic-cartographer-rviz
rosdep install -y --from-paths . --ignore-src --rosdistro melodic

9.3. Build Catkin Workspace:

cd ~/ws_(workspacename)
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

9.4. Source Workspace:

echo "source ~/ws_(workspacename)/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

  1. Add permissions to USB ports:

sudo adduser 'user' dialout

Setting Up Remote ROS Client

In order to use ROS visual tools such as RVIZ and RQT while your Pegasus-Mini is doing what it does best, being mobile, you will need to setup a remote ROS client. You will need to install Ubuntu on this remote PC and follow the same steps to install ROS as you did for your Pegasus-Mini in ROS Software Setup.

Note

You need to find the IP ADDRESSES of on both your Pegasus-Mini and your remote PC. Do this by running the command [ifconfig] in terminal.

You will need to run the following commands on both your Pegasus-Mini and your remote PC respectively. Note that you will have to run these command each time you open a terminal unless you add these commands to the .bashrc file. This will run them every time you open a terminal.

Description

Pegasus-Mini

Remote PC

ROS_MASTER_URINote that you will have to run these command each time you open a terminal unless you add these commands to the .bashrc file. This will run them every time you open a terminal.

export ROS_MASTER_URI = http://Pegasus-Mini_IP:11311

export ROS_MASTER_URI = http://Pegasus-Mini_IP:11311

ROS_IP

export ROS_IP = Pegasus-Mini_IP

export ROS_IP = Remote_PC_IP

Note

Note that you will have to run these command each time you open a terminal unless you add these commands to the .bashrc file. This will run them every time you open a terminal. Do this by running source ~/.bashrc after you have run the above commands.