Provides a series of scripts thaat will install ROS1 Noetic, Gazebo Ignition, and Turtlebot interfaces on Ubuntu 22.04LTS. These instructions operate from the assumption of a fresh Ubuntu installation, or something effectively close to it from a ROS1 perspective. If desired, ROS2 can be installed afterwards without problems. If ROS2 has been installed prior to attempting a ROS1 install, then problems may result due to installed packages having conflicting dependencies. The sensitivity arises from the fact that Noetic is EOL, as it was for Ubuntu 20.04LTS. It took some trial-and-error to get things going.
The earlier repos had more detailed instructions but it become more and more difficult to maintain currency of the instructions as errors were fixed and the process evolved. Now, the scripts are documented and serve as instructions if one would rather go line-by-line, or chunk-by-chunk. Insights on how to proceed were obtained from a medium post for Noetic installation and a blog post for Gazebo Ignition installation. The Turtlebot installation instructions were obtained through trial and error when following through on the R20.04 version of the instructions. A few changes are needed due to newer compiler versions.
The entire process is a series of script to run. I tend to clone into noesrc first (short for Noetic source),
git clone https://github.com/ivaROS/noetic_turtlebot.git noesrc
Then go into the directory of the cloned repository. The process proceeds from there under the assumption that the user executing everything has sudo privileges. Again, there is explanation of the process in the scripts just in case something goes wrong.
In order, they are:
fromscratchNoeticcompileNoeticinstallTurtlebot
The last part is optional and specific to our robots.
When the compile finishes, the last line of output sould be something like:
<== Finished processing package [211 of 211]: 'xacro'
Once done, you've got a basic version of Noetic working. Of course, even this version is missing quite a bit. The missing parts should be added as needed. For us, that includes things like the Turtlebot/Kobuki ROS1 code and move_base. The next script helps take care of those missing elements, if desired. It is customized to our group's needs. You can always create a similar version with custom script for your needs.
If started in proper path and running as expected, then there should be a ton of output, some compiling information being output, then finally 146 packages successfully compiled. In the last compile attempt, the following lines were output by the process:
[build] Summary: All 148 packages succeeded! [build] Ignored: None.
[build] Warnings: 148 packages succeeded with warnings. [build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 1 minute and 44.5 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
when done with this step and no more ROS1 development will be done, it is probably best to get rid of the apt source for ROS1 Noetic/Focal:
sudo mv /etc/apt/sources.d/ros-noetic-focal.list ./
The above line moves it into the repo and is not in the script even though it makes sense to put it there. The reason to go with a manual process is to permit further ROS1 package additions. Once done, do the move. If, for some reason, additional apt sources are needed, just copy it back in:
sudo mv ros-noetic-focal.list /etc/apt/sources.d
Just be careful about conflict with ROS2 apt sources if that particular file is also there. The ROS2 source list may need to be moved out temporarily. Again, be super careful as this swapping around can lead to package conflicts. Do this only if you are comfortable and know how to address apt errors and broken packages. Naturally any changes to the apt sources will require a source update:
sudo apt-get update
Please checkout the Turtlebot instructions for any additional steps. Some of the instructions there are already in the script. Look more to the end (like kobuki dev rules).
Update 10/13/2025: Output indicated 147 packages.
Update 04/22/2026: Output indicated 139 packages.