1- Installing ROS 2 Crystal Clemmys on Ubuntu 18.04 for NVIDIA Jetson Modules
2- Creating a Workplace for ROS 2 Environment
3- Installing Dependencies and Setting up an Environment
4- Test ROS 2 Environment for NVIDIA Jetson Modules
Hardware: All NVIDIA Jetson Modules
OS: Ubuntu 18.04 LTS
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 updatesudo apt install curl gnupg2 lsb-releasecurl -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).
Now we should create a workspace extract it to the workspace that you created like the code below.
mkdir -p ~/ros2_crystal/srccd ~/ros2_crystaltar xf ~/Downloads/ ros2-crystal-20191212-linux-bionic-amd64.tar.bz2
You should install and initialize rosdep.
sudo apt updatesudo apt install -y python-rosdepsudo rosdep init # if already initialized you may continuerosdep update
Install the missing dependencies as a code below.
CHOOSE_ROS_DISTRO=crystalrosdep 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
Finally, you should set up your environment with the source below.
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.
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