Hood NUC Melih ROS2 Source Install

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January 16 and 17, 2020

This is a source install documented by Husnu Melih Erdogan while an intern in the Intel ROS Navigation 2 team. The TR3 computer architecture replaces the Raspberry Pi with a standard Linux 18.04 Intel NUC. It sits on the TB3 and can accommodate the entire computer navigation stack. A remote Linux 18.04 based ROS 2 may join the network as the human interface.

Reference

See Melih's tutorial section "ROS2 Installation Step"

See Melih's tutorial section "Test ROS2"

Initial Conditions

The binary version of ROS2 has already been installed following the Raspberry Pi instructions. See Hood NUC ROS2.

Disable the Dashing setup in .bashrc for now. The sources are going to be installed in a local workspace and not at /opt/ros. 

 # after Dashing install
 export CHOOSE_ROS_DISTRO=dashing
 #source /opt/ros/dashing/setup.bash
 #source ~/turtlebot3_ws/install/setup.bash

 # my TB3 framework additions 
 export TB3_MODEL=waffle
 export TURTLEBOT3_MODEL=${TB3_MODEL}

ROS2 Installation Steps: Tools and Dependencies

As a result of installing the ROS 2 binary version, many of Melih's steps have been done in this previous step and are skipped.

Skipped: Set Locale done 

 sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 export LANG=en_US.UTF-8

Skipped: Setup Sources and add the repository to your sources list 

 sudo apt update && sudo apt install curl gnupg2 lsb-release
 curl http://repo.ros2.org/repos.key | sudo apt-key add -
 sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

Update and upgrade: decided to bring everything up-to-date 

 sudo apt update

 apt list --upgradable

 sudo apt upgrade

Action: Rebooted

Installed 2: Install Development Tools and ROS2 tools 

 sudo apt update && sudo apt install -y \
   build-essential \
   cmake \
   git \
   python3-colcon-common-extensions \
   python3-lark-parser \
   python3-pip \
   python-rosdep \
   python3-vcstool \
   wget

The following needed to be installed 

 eepp@hood:~$ sudo apt install python3-pip

 eepp@hood:~$ sudo apt install python-rosdep

Installed: Pip packages for testing 

 python3 -m pip install -U \
   argcomplete \
   flake8 \
   flake8-blind-except \
   flake8-builtins \
   flake8-class-newline \
   flake8-comprehensions \
   flake8-deprecated \
   flake8-docstrings \
   flake8-import-order \
   flake8-quotes \
   pytest-repeat \
   pytest-rerunfailures \
   pytest \
   pytest-cov \
   pytest-runner \
   setuptools

Test ROS 2

Sanity test: I did a test from Hood_ROS2_Tutorials_on_Dashing. Passed.

Installed: Fast-RTPS dependencies 

 sudo apt install --no-install-recommends -y \
   libasio-dev \
   libtinyxml2-dev

ROS2 Installation Steps: Create ROS 2 Workspace

 eepp@hood:~$ mkdir ros2_all_ws

 eepp@hood:~$ cd ros2_all_ws

 eepp@hood:ros2_all_ws$ mkdir ros2_ws

 eepp@hood:ros2_all_ws$ cd ros2_ws

 eepp@hood:ros2_ws$ mkdir src

ROS2 Installation Steps: Clone the ROS 2 source

 eepp@hood:ros2_ws$ wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
     --2020-01-17 09:07:06--  https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
     Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.52.133
     Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|151.101.52.133|:443... connected.
     HTTP request sent, awaiting response... 200 OK
     Length: 10755 (11K) [text/plain]
     Saving to: ‘ros2.repos’

     ros2.repos          100%[===================>]  10.50K  --.-KB/s    in 0s      

     2020-01-17 09:07:06 (40.0 MB/s) - ‘ros2.repos’ saved [10755/10755]


 eepp@hood:ros2_ws$ ls
     ros2.repos  src

 eepp@hood:ros2_ws$ vcs import src < ros2.repos


 eepp@hood:ros2_ws$ sudo rosdep init
     Wrote /etc/ros/rosdep/sources.list.d/20-default.list
     Recommended: please run
       rosdep update

 eepp@hood:ros2_ws$ rosdep update
     reading in sources list data from /etc/ros/rosdep/sources.list.d
     Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
     Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
     Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
     Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
     Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
     Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
     Skip end-of-life distro "ardent"
     Skip end-of-life distro "bouncy"
     Skip end-of-life distro "crystal"
     Add distro "dashing"
     Add distro "eloquent"
     Add distro "foxy"
     Skip end-of-life distro "groovy"
     Skip end-of-life distro "hydro"
     Skip end-of-life distro "indigo"
     Skip end-of-life distro "jade"
     Add distro "kinetic"
     Skip end-of-life distro "lunar"
     Add distro "melodic"
     Add distro "noetic"
     updated cache in /home/eepp/.ros/rosdep/sources.cache

 eepp@hood:ros2_ws$ rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"

 eepp@hood:~$ python3 -m pip install -U lark-parser
     Collecting lark-parser
       Downloading https://files.pythonhosted.org/packages/34/b8/aa7d6cf2d5efdd2fcd85cf39b33584fe12a0f7086ed451176ceb7fb510eb/lark-parser-0.7.8.tar.gz (276kB)
         100% |████████████████████████████████| 276kB 2.9MB/s 
     Building wheels for collected packages: lark-parser
       Running setup.py bdist_wheel for lark-parser ... done
       Stored in directory: /home/eepp/.cache/pip/wheels/01/a2/30/ebae6ffa73cf3aa1c972a24d4c78388afd910f91e43bf554aa
     Successfully built lark-parser
     Installing collected packages: lark-parser
     Successfully installed lark-parser-0.7.8

ROS2 Installation Steps: Build ROS 2

 eepp@hood:ros2_ws$ colcon build --symlink-install --merge-install
     Starting >>> ament_package
     Starting >>> ament_lint
     Starting >>> fastcdr
     Starting >>> foonathan_memory_vendor                          
     Finished <<< ament_package [2.40s]                            
     Starting >>> ament_cmake_core


     ....

     [Processing: rviz_default_plugins]     
     Finished <<< rviz_default_plugins [18min 24s]                                  
     Starting >>> rviz2
     Finished <<< rviz2 [11.6s]                                      

     Summary: 299 packages finished [1h 17min 27s]
       11 packages had stderr output: cyclonedds foonathan_memory_vendor qt_gui_cpp rmw_connext_cpp rmw_connext_shared_cpp rmw_opensplice_cpp ros1_bridge rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rosidl_typesupport_opensplice_c rosidl_typesupport_opensplice_cpp


ROS2 Test

Passed

Terminal 1 

 eepp@hood:~$ source ~/ros2_all_ws/ros2_ws/install/local_setup.bash
     ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.

 eepp@hood:~$ ros2 run demo_nodes_cpp talker
     [INFO] [1579286888.639146656] [talker]: Publishing: 'Hello World: 1'
     [INFO] [1579286889.638646265] [talker]: Publishing: 'Hello World: 2'
     [INFO] [1579286890.638668014] [talker]: Publishing: 'Hello World: 3'
     ...

Terminal 2 

 eepp@hood:ros2_ws$ source ~/ros2_all_ws/ros2_ws/install/local_setup.bash
     ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.

 eepp@hood:ros2_ws$ ros2 run demo_nodes_py listener
     [INFO] [1579286915.669205110] [listener]: I heard: [Hello World: 28]
     [INFO] [1579286916.641119624] [listener]: I heard: [Hello World: 29]
     [INFO] [1579286917.641110903] [listener]: I heard: [Hello World: 30]
     [INFO] [1579286918.641013243] [listener]: I heard: [Hello World: 31]
     ...
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