Installing ROS Noetic on Ubuntu 20.04

[cmurray3]

Notes on the Fall '21 Ubuntu VirtualBox Image

• The ubuntu_2004_vm_F21.ova VirtualBox appliance has the following properties:

  • Ubuntu 20.04 (Focal Fossa)
  • ROS Noetic Ninjemys
  • Python 3.8

• I used the steps below to install the software on a fresh Ubuntu installation:

---

Install git and curl

sudo apt-get install git
sudo apt install curl 

Install pip

wget https://bootstrap.pypa.io/get-pip.py
sudo python3 get-pip.py

---

Install ROS

• from http://wiki.ros.org/noetic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-noetic-desktop-full

sudo apt install python3-rosdep

sudo rosdep init

rosdep update

echo "" >> ${HOME}/.bashrc
echo "# Set ROS Environment Variables:" >> ${HOME}/.bashrc
echo "source /opt/ros/noetic/setup.bash" >> ${HOME}/.bashrc
source /opt/ros/noetic/setup.bash
source ${HOME}/.bashrc

sudo apt-get install python3-rosinstall

Create catkin workspace:

mkdir -p ${HOME}/catkin_ws/src

Build the workspace:

cd ${HOME}/catkin_ws
catkin_make

Edit .bashrc again (setting more ROS Environment Variables):

echo "source ~/catkin_ws/devel/setup.bash" >> ${HOME}/.bashrc
source ${HOME}/catkin_ws/devel/setup.bash
source ${HOME}/.bashrc

sudo apt-get clean
sudo apt-get install ros-noetic-rosbridge-suite

---

Install Turtlebot3

• See https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

Install Dependent ROS 1 Packages

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
      ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
      ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
      ros-noetic-rosserial-python ros-noetic-rosserial-client \
      ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
      ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
      ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
      ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

Install TurtleBot3 via Debian Packages:

sudo apt install ros-noetic-dynamixel-sdk
sudo apt install ros-noetic-turtlebot3-msgs
sudo apt install ros-noetic-turtlebot3

Install Simulation Package

• https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/

  cd ~/catkin_ws/src/
  git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
  cd ~/catkin_ws && catkin_make

Test the installation:

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

---

Install OpenCV

• from https://www.pyimagesearch.com/2018/09/19/pip-install-opencv/

sudo apt-get update
sudo apt-get upgrade

sudo apt-get install python3-dev
sudo apt-get install libgl1-mesa-glx
sudo pip install opencv-contrib-python

---

dronekit

pip install dronekit
pip install dronekit-sitl

---

Other useful Python stuff

pip install --upgrade ipython
pip install --upgrade numpy scipy matplotlib scikit-learn pandas pillow
pip install --upgrade jupyter
pip install --upgrade veroviz

pip install --upgrade pygame
pip install --upgrade pyserial
pip install --upgrade xbee
pip install --upgrade pyglet
pip install --upgrade netifaces
pip install --upgrade rpy2          # Still valid/useful?  Does NOT work for Python 2   
pip install --upgrade geocoder

---

Other useful applications:

sudo apt-get --yes install filezilla
sudo apt-get --yes install geany
sudo apt-get --yes install gimp
sudo apt-get --yes install meld
sudo apt-get --yes install kazam
sudo apt-get --yes install retext