ROS Noetic Installation Guide for Ubuntu 20.04

This guide will walk you through the process of installing ROS Noetic on Ubuntu 20.04. ROS (Robot Operating System) is a flexible framework for writing robot software and is widely used in robotics research and development.

Step 1: Set up your sources.list

Configure your Ubuntu repositories to allow the installation of packages from the ROS repository.

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

Step 2: Set up your keys

Add the ROS repository key to your system.

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

Step 3: Update your package index

Update the package index to ensure that you have access to the latest available packages.

sudo apt update

Step 4: Install ROS Noetic Desktop Full

Install the full desktop version of ROS Noetic, including simulation tools and other dependencies.

sudo apt install ros-noetic-desktop-full

Step 5: Initialize rosdep

Before you can use ROS, you will need to initialize rosdep, which is a package manager for ROS dependencies.

sudo apt install python3-rosdep
rosdep update
sudo rosdep init

Step 6: Set up environment variables

To ensure that ROS commands are available in your terminal, add the following line to your shell configuration file (e.g., ~/.bashrc for Bash users).

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

Step 7: Create a catkin workspace and build

Create a catkin workspace and build the project.

mkdir -p catkin_ws/src
cd catkin_ws
git clone https://github.com/HORIZON-CUSAT/Robot_ROS_Noetic_2024.git
cd ..
catkin_make

Step 8: Install teleop twist keyboard package

Install the teleop twist keyboard package for controlling the robot using the keyboard.

sudo apt-get install ros-noetic-teleop-twist-keyboard

Step 9: Install rosserial

Install rosserial for communication with Arduino.

sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-rosserial

Step 10: Configure aliases and environment variables

Add the following aliases and environment variables to your ~/.bashrc file.

gedit ~/.bashrc

Add the following lines to the end of the file:

alias burger='export TURTLEBOT3_MODEL=burger'
alias waffle='export TURTLEBOT3_MODEL=waffle'
alias tb3fake='roslaunch turtlebot3_fake turtlebot3_fake.launch'
alias tb3teleop='roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch'
alias tb3='roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch'
alias tb3maze='roslaunch turtlebot3_gazebo turtlebot3_world.launch'
alias tb3house='roslaunch turtlebot3_gazebo turtlebot3_house.launch'

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export TURTLEBOT3_MODEL=waffle
export SVGA_VGPU10=0

Running Horizon Rover

Got it! Here are the instructions for launching rosserial to run Horizon Rover using the serial port:

To run the Horizon Rover using ROS Serial, follow these steps:

Step 1: Launch roscore

Open a terminal and launch roscore:

roscore

Step 2: Set permissions for the serial port and Run rosserial serial node

In another terminal, set permissions for the serial port (assuming your serial port is /dev/ttyACM0):

sudo chmod 666 /dev/ttyACM0
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600

Step 3: Launch teleoperation for TurtleBot3

If you want to teleoperate the TurtleBot3 for testing purposes, you can launch the teleoperation node:

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Step 5: Control Horizon Rover

Now you can control the Horizon Rover using ROS commands. If you launched the teleoperation for TurtleBot3, you can control it using the keyboard. Otherwise, you can send appropriate ROS messages to control the Horizon Rover.

Make sure all terminals remain open while you are using the Horizon Rover with ROS Serial.

Change Log

Date	Task No.	Task Name	Code Changes	Added Publisher	Added Subscriber
10/03/2024	225	Forward Kinematics	Added a Ros package to take Input	Movements	-