Robot Operating System (ROS) Installation

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ROS Distribution Consideration

Ubuntu	16.04	18.04	20.04
ROS	Kinetic	Melodic	Noetic

Most of the simulation packages, such as hector quadrotor, ur, etc. are supported by Kinetic ROS only. So here I choose ubuntu 16.04. Don't choose install the latest version since not a lot of packages are updated.

Steps

1. Setup your sources.list

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

2. Setup your keys

   sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. Installation

   sudo apt-get update

   then Desktop-Full Install

   sudo apt-get install ros-kineti-desktop-full

4. Install any individual package

   sudo apt-get install ros-{version}-{package}

5. Install any individual package

   sudo apt-get install ros-{version}-{package}

6. Initialize rosdep

   sudo rosdep init

   Then

   rosdep update

7. Environment setup

   source /opt/ros/kinetic/setup.bash

   Then

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

8. Dependencies for building packages of python

   sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
   sudo apt-get install ros-kinetic-joy
   sudo apt-get install ros-kinetic-control-toolbox
   sudo apt-get install ros-kinetic-robot-controllers
   sudo apt-get install ros-kinetic-gazebo-ros
   sudo apt-get install ros-kinetic-gazebo-plugins 
   sudo apt-get install ros-kinetic-rgbd-launch
   

   Then reboot.

Test setup

1. roscore
2. rostopic list Show the ros topic
3. roscd It will take you to /opt/ros/kinetic directory

References

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1. Gazebo ROS packages
2. Ubuntu install of ROS Kinetic