How to install ROS 2 Crystal Clemmys from source on Ubuntu 18.04 for NVIDIA® Jetson™ Modules
ENVIRONMENT
Hardware: All NVIDIA® Jetson™ Modules
OS: Ubuntu 18.04 LTS
Installing ROS 2 Crystal Clemmys on Ubuntu 18.04 for NVIDIA® Jetson™ Modules
In this blog post, we will talk about how to install ROS 2. ROS 2 has multiple versions of ROS2 but only Crystal Clemmys is supported by Ubuntu 18.04.
All the steps were taken from the official tutorial: https://docs.ros.org/en/crystal/Installation/Linux-Install-Binary.html
You should authorize the GPG key and add the ROS 2 apt repositories to the system.
sudo apt update
sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
Click here and download the latest package for Linux (ros2-crystal-20191212-linux-bionic-amd64.tar.bz2).
https://github.com/ros2/ros2/releases/tag/release-crystal-20191212
Creating a Workspace for ROS 2 Environment
Now we should create a workspace extract it to the workspace that you created like the code below.
mkdir -p ~/ros2_crystal/src
cd ~/ros2_crystal
tar xf ~/Downloads/ ros2-crystal-20191212-linux-bionic-amd64.tar.bz2
You should install and initialize rosdep.
sudo apt update
sudo apt install -y python-rosdep
sudo rosdep init # if already initialized you may continue
rosdep update
Installing Dependencies and Setting up an Environment
Install the missing dependencies as a code below.
CHOOSE_ROS_DISTRO=crystal
rosdep install --from-paths ros2-linux/share --ignore-src --rosdistro $CHOOSE_ROS_DISTRO -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
Install python3 libraries
sudo apt install -y libpython3-dev
Setting Up an Environment
Finally, you should set up your environment with the source below.
. ~/ros2_crystal/ros2-linux/setup.bash
Test ROS 2 Environment for NVIDIA® Jetson™ Modules
Let's test with some examples. Open two different terminals. In one of them, source the setup file and run the C++ talker. You should see the terminal like the picture below.
In the other terminal, source the setup file and run the Python listener. You should see the terminal like the picture below.
Thank you for reading our blog post.