[ROS2] Virtual Box 설치

virtual box 2번 날려먹고 다시 깔기 ( 미리 복제해둬야 함)

Erase Ubuntu 20.04.6 Lts and Reinstall 누르고 Install Now

서울 누르고 계속

user name, password 설정하고 필요할때마다 로그인선택 후 continue

 install 중

Run

 

<이 아래로는 1줄 씩 진행>

지역 설정

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

소스설정

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

ROS2 패키지 설치

sudo apt update
sudo apt install ros-foxy-desktop ros-foxy-rmw-fastrtps* ros-foxy-rmw-cyclonedds*

ROS2  패키지 설치 확인 - ctrl+shift+n 누르고 창 2개 띄워서 확인

//터미널1
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

//터미널2
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener

터미널 1에서 Hello 뜨고 터미널2에서도 숫자 맞춰서 뜨면 성공 → 다 되면 ctrl + C로 종료

 

ROS 개발 툴 설치

 sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

 

sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev \
  libcunit1-dev

 

ROS2 빌드 테스트

source /opt/ros/foxy/setup.bash
mkdir -p ~/robot_ws/src
cd ~/robot_ws/
colcon build --symlink-install

 

RUN Commands 설정 (nano로도 가능)

gedit ~/.bashrc

gedit으로 연 후에 ↓ 이 내용을 가장 밑에 추가(공백줄 만들고 추가하는게 좋음, 원본 텍스트 건들면 안됨)

source /opt/ros/foxy/setup.bash
source ~/robot_ws/install/local_setup.bash

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/vcstool-completion/vcs.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=~/robot_ws

export ROS_DOMAIN_ID=7
export ROS_NAMESPACE=robot1

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# export RMW_IMPLEMENTATION=rmw_connext_cpp
# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# export RMW_IMPLEMENTATION=rmw_gurumdds_cpp

# export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity}]: {message}'
export RCUTILS_COLORIZED_OUTPUT=1
export RCUTILS_LOGGING_USE_STDOUT=0
export RCUTILS_LOGGING_BUFFERED_STREAM=1

alias cw='cd ~/robot_ws'
alias cs='cd ~/robot_ws/src'
alias ccd='colcon_cd'

alias cb='cd ~/robot_ws && colcon build --symlink-install'
alias cbs='colcon build --symlink-install'
alias cbp='colcon build --symlink-install --packages-select'
alias cbu='colcon build --symlink-install --packages-up-to'
alias ct='colcon test'
alias ctp='colcon test --packages-select'
alias ctr='colcon test-result'

alias rt='ros2 topic list'
alias re='ros2 topic echo'
alias rn='ros2 node list'

alias killgazebo='killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient'

alias af='ament_flake8'
alias ac='ament_cpplint'

alias testpub='ros2 run demo_nodes_cpp talker'
alias testsub='ros2 run demo_nodes_cpp listener'
alias testpubimg='ros2 run image_tools cam2image'
alias testsubimg='ros2 run image_tools showimage'