All the steps to use Robot Operating System (ROS) in windows 10.
ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers. ROS is similar in some respects to 'robot frameworks,' such as Player, YARP, Orocos, CARMEN, Orca, MOOS, and Microsoft Robotics Studio.
The ROS runtime "graph" is a peer-to-peer network of processes (potentially distributed across machines) that are loosely coupled using the ROS communication infrastructure. ROS implements several different styles of communication, including synchronous RPC-style communication over services, asynchronous streaming of data over topics, and storage of data on a Parameter Server. These are explained in greater detail in our Conceptual Overview.
ROS is not a realtime framework, though it is possible to integrate ROS with realtime code. The Willow Garage PR2 robot uses a system called pr2_etherCAT, which transports ROS messages in and out of a realtime process. ROS also has seamless integration with the Orocos Real-time Toolkit.
Some goals of the ROS framework:
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Thin: ROS is designed to be as thin as possible -- we won't wrap your main() -- so that code written for ROS can be used with other robot software frameworks. A corollary to this is that ROS is easy to integrate with other robot software frameworks: ROS has already been integrated with OpenRAVE, Orocos, and Player.
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ROS-agnostic libraries: the preferred development model is to write ROS-agnostic libraries with clean functional interfaces. Language independence: the ROS framework is easy to implement in any modern programming language. We have already implemented it in Python, C++, and Lisp, and we have experimental libraries in Java and Lua.
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Easy testing: ROS has a builtin unit/integration test framework called rostest that makes it easy to bring up and tear down test fixtures.
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Scaling: ROS is appropriate for large runtime systems and for large development processes.
ROS currently only runs on Unix-based platforms. Software for ROS is primarily tested on Ubuntu and Mac OS X systems, though the ROS community has been contributing support for Fedora, Gentoo, Arch Linux and other Linux platforms.
While a port to Microsoft Windows for ROS is possible, it has not yet been fully explored.
Windows 10 anniversary update or build 16215 or later
(older versions aren't bash enabled, so no hope to with with)
Before installing any Linux distros for WSL, you must ensure that the "Windows Subsystem for Linux" optional feature is enabled:
1. Open PowerShell as Administrator and run:
Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Windows-Subsystem-Linux
2. Restart your computer when prompted.
To download and install your preferred distro(s), you have three choices:
1. Download and install from the Windows Store (see below)
2. Download and install from the Command-Line/Script (read the manual installation instructions)
3. Download and manually unpack and install (for Windows Server - instructions here)
This section is for Windows build 16215 or later. Follow these steps to check your build. For earlier versions of Windows 10, follow these instructions using lxrun.
- Open the Microsoft Store and choose your favorite Linux distribution.
The following links will open the Windows store page for each distribution:
- From the distro's page, select "Get"
So, Your Distro is now ready, next step is to install and create ubunru environment and run ROS
To complete the initialization of your newly installed distro, launch a new instance. You can do this by clicking the "launch" button in the Windows Store app, or launching the distro from the Start menu:
Once installation is complete, you will be prompted to create a new user account (and its password)
This user account is for the normal non-admin user that you'll be logged-in as by default when launching a distro.
Most distros ship with an empty/minimal package catalog. I strongly recommend regularly updating your package catalog, and upgrading your installed packages using your distro's preferred package manager. On Debian/Ubuntu, you use apt:
sudo apt update && sudo apt upgrade
Windows does not automatically update or upgrade your Linux distro(s): This is a task that the Linux users prefer to control themselves.
In case you have used the WSL before applying the creators update, you may still have the trusty version (14.04) of Ubuntu for Windows installed. However, you need to upgrade to xenial (16.04). To check which version is actually installed, start an instance of bash and run lsb_release -a. The output should look like
$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 16.04.2 LTS
Release: 16.04
Codename: xenial
If it shows an older version, you have to uninstall and then reinstall bash on windows from the windows command line as follows Warning: This will delete all of your existing data in WSL. Make a backup first
lxrun /uninstall /full /y
lxrun /install
Since WSL is based on ubuntu, you can follow the official ros installation guide for ubuntu by the word.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install -y ros-lunar-desktop-full
sudo rosdep init
rosdep update
If you want to source ros lunar automatically for ever bash session, then
echo "source /opt/ros/lunar/setup.bash" >> ~/.bashrc
source ~/.bashrc