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--- tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2019/10/08 04:51] – amora
+++ tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-====== Installing ROS melodic inside a Ubuntu Bionic chroot ======
+====== Installing ROS Melodic & ROS Dashing inside a Ubuntu Bionic chroot ======
   * Install Ubuntu inside a chroot. Follow guide from [[tutorials:ubuntu_bionic_chroot|here]]
@@ Line 14: / Line 14: @@
   deb http://mirrors.ucr.ac.cr/ubuntu bionic main universe restricted multiverse
+  deb http://mirrors.ucr.ac.cr/ubuntu bionic-updates main universe restricted multiverse
   deb http://mirrors.ucr.ac.cr/ubuntu bionic-backports main restricted multiverse
   * Update repos
-  apt-get update
+  $ apt-get update
   * Install the following packages:
-  apt-get install sudo mc nano curl lsb-release gnupg apt-utils bash-completion locales
+  $ apt-get install sudo mc nano curl lsb-release gnupg2 apt-utils bash-completion locales
   * Add a new user in the chroot
-  adduser user
+  $ adduser user
   * Add your new user to sudo group
-  adduser user sudo
+  $ adduser user sudo
   * Fix sudo error with visudo:
-  visudo
+  $ visudo
   %sudo   ALL=(ALL:ALL) NOPASSWD:ALL
@@ Line 40: / Line 41: @@
   * From now on, use your new user for the following steps:
-  su user
+  $ su user
-  * Follow guide from ROS: [[http://wiki.ros.org/melodic/Installation/Ubuntu]]
+  * Follow guide for ROS Melodic from ROS: [[http://wiki.ros.org/melodic/Installation/Ubuntu]]
+  * Follow guide for ROS Dashing from ROS: [[https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/]]
+===== Creating ROS Melodic Workspace =====
+Since ROS Hydro (ROS 1), ROS use [[wiki.ros.org/catkin/workspaces|Catkin]] for building all packages. The following links shows the basic steps for creating a Catkin Workspace.
+  * [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace|Create a workspace]]
+After creating the workspace, build a basic package for testing purposes.
+  * [[http://wiki.ros.org/catkin/Tutorials/CreatingPackage|Create a ROS package]]
+  * [[http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29|Writing a simple node in Python]]
+  * [[http://wiki.ros.org/ROS/Tutorials/ExaminingPublisherSubscriber|Running the simple node]]
+===== Creating ROS Dashing Workspace =====
+Since ROS Crystal (ROS 2) to newer versions, ROS use [[https://colcon.readthedocs.io/en/released/|Colcon]] for building all packages. This guide shows the basic steps for creating a Colcon Workspace.
+  * Source ROS 2 configuration
+  $ source /opt/ros/dashing/setup.bash
+  * Install colcon
+  $ sudo apt install python3-colcon-common-extensions
+  * Create workspace for ROS 2
+  $ mkdir -p ~/ros2_ws/src
+  * Move to the new workspace and build it
+  $ cd ~/ros2_ws
+  $ colcon build
+  * Source workspace configuration
+  $ source ~/ros2_ws/install/local_setup.bash && source ~/ros2_ws/install/setup.bash
+After creating the workspace, lets build some examples packages for ROS 2.
+  * Clone ROS 2 examples package repository in our workspace
+  $ cd ~/ros2_ws/src
+  $ git clone git clone https://github.com/ros2/examples
+  $ git checkout $ROS_DISTRO
+  * Build examples package
+  $ cd ~/ros2_ws
+  $ colcon build --symlink-install
+  * Test builded package. Remember to run each command on different terminals and source ROS 2 configuration on each terminal.
+  $ ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function
+  $ ros2 run examples_rclcpp_minimal_publisher publisher_member_function