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--- tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2019/10/10 02:29] – amora
+++ tutorials:installing_ros_melodic_inside_ubuntu_bionic_chroot [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 45: / Line 45: @@
   * 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 =====
-From 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.
+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
@@ Line 67: / Line 83: @@
   $ 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