Workshop-ROS2

In this workshop, you'll gain a thorough understanding of ROS 2 as you develop a 2D controller from the ground up for a quadrotor, mastering fundamental concepts along the way.

Workshop Presentation: Workshop ROS 2 slideshow.pdf

Installing ROS 2

Follow the steps on the links below (select the link which corresponds to your operating system):

• ROS 2 Humble - Ubuntu 22.04LTS
• ROS 2 Foxy - Ubuntu 20.04LTS

Also install the colcon build tools:

sudo apt install ros-dev-tools
sudo apt install python3-colcon-common-extensions

Post Installation

1. Open the .bashrc file. This file is read by the terminal every time it starts up, and tells your terminal where the programs and libraries are located.

gedit ~/.bashrc

2. Tell the .bashrc file where ROS 2 is setup (replace humble by foxy if your are running Ubuntu 20.04LTS)

source /opt/ros/humble/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=/opt/ros/humble

3. To avoid Python warnings, also add the following line to the .bashrc

PYTHONWARNINGS="ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
export PYTHONWARNINGS

4. To make your journey more enjoyable, also add the following line. This will be explained during the workshop

alias s="source ${HOME}/.bashrc"

5. For handling how your ROS 2 data flows on the local network, also add these optional lines

export ROS_DOMAIN_ID=0
export ROS_LOCALHOST_ONLY=0

You can read more about this here Domain-ID.

Preparing a workspace to write code

In order to create a workspace/directory where your code will be stored, follow the steps:

1. Create the workspace

mkdir drone_ws

2. Create the src directory where the code will be placed

cd drone_ws
mkdir src

3. Clone this repository inside the src directory

cd src
git clone https://github.com/PegasusResearch/Workshop-ROS2.git

4. Compile/Index the code

cd ..
colcon build --symlink-install

5. Add the following line to your .bashrc file

source ${HOME}/drone_ws/install/setup.bash

6. Close this terminal. Open a new one and test it!

ros2 launch drone_launch simulation.launch.py

Project Sponsors

• Institute for Systems and Robotics (ISR), a research unit of the Laboratory of Robotics and Engineering Systems (LARSyS).
• Instituto Superior Técnico, Universidade de Lisboa

The work developed by Marcelo Jacinto was supported by Ph.D. grant funded by Fundação para a Ciência e Tecnologia (FCT).