Install ROS System in Ubuntu Virtual Machine & Environment Configuration

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JetBot ROS AI Kit Advanced Tutorial Directory

Introduction

  • The configured image is provided, and you can refer to the following steps if you want to install the ROS system configuration environment. It is recommended to use the configured image we provided.
  • The Internet must be stable when you install and configure the image.
  • The version of Jetson Nano we use is Ubuntu 18.04. The latest ROS system version you can install is Melodic. Install Ubuntu 18.04 system in the virtual machine, and install ROS system version as Melodic.
  • Install Ubuntu 18.04 system by VMware software.

Step 1: Configure ROS Software Repository

  • After installing Ubuntu system, please open the terminal and enter the following command to configure ROS software repository.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  • Configure keys. This step is to make sure our system can recognize this path is safe to download the documents, or the documents we download will be canceled.
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Step 2: Install ROS Melodic

  • After adding the new source, we need to update the source list. Please enter the following command on the terminal:
sudo apt-get update
  • There are many different libraries and tools in ROS. Generally, it includes Desktop-Full, Desktop, and ROS-Base.
  • Desktop-Full includes ROS, rpt, rviz, the general library for robots, 2D/3D simulator, navigation, and 2D/3D perception package. Desktop-Full is installed here.
sudo apt install ros-melodic-desktop-full

Step 3: Initialize rosdep

  • Before using ROS, you need to initialize rosdep, which can help you install the source code or the required system dependencies for the ROS core components. You can enter the following command in the terminal:
sudo apt install python-rosdep
sudo rosdep init
rosdep update

Step 4: Add Environment Variables and Install ROS Dependencies

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc #Add environment variables
source ~/.bashrc #Effective environment variables
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential #Install dependencies

Step 5: Verify the ROS Environment

  • Use the ROS welcome applet: crawling turtle to demonstrate the ROS system
  • The startup of the ROS system requires a ROS Master, that is, a node manager. We can enter the roscore command in the terminal to start the ROS Master.
roscore

Ubuntu Virtual Machine01.png

  • Open a new terminal and start the little turtle node.
rosrun turtlesim turtlesim_node
  • Start the keyboard control node, and use ↑, ↓, ←, → to control the movement of the little turtle.
rosrun turtlesim turtle_teleop_key
  • When the little turtle "hit the wall", the terminal will output prompt data.

Ubuntu Virtual Machine02.png

  • At this point, the ROS system installation is complete.

Step 6: Set up Workspace

  • Set up catkin_ws workspace, and put the project under this directory.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make #Compile
sudo sh -c 'echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc' #Add environment variables
source ~/.bashrc #Effective environment variables

Download & Compile the Source Cofe of the Jetbot_pro Virtual Machine

cd ~/catkin_ws/src
git clone -b ubuntu https://github.com/waveshare/jetbot_pro.git
cd ~/catkin_ws && catkin_make && source ~/catkin_ws/devel/setup.bash

Step 8: Install Dependencies

sudo apt-get install ros-melodic-joy
sudo apt-get install ros-melodic-camera-calibration
sudo apt-get install ros-melodic-audio-common
sudo apt-get install python-pip
python -m pip install --upgrade pip
python -m pip install opencv-python==4.2.0.32
python -m pip install opencv-contrib-python
python -m pip install imutils
  • By now, the jETBOT_PRO environment in the virtual machine is completed.
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