pvandervelde/create-ros-humble-ubuntu-vm.md

## create-ros-humble-ubuntu-vm.md

      
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              create-ros-humble-ubuntu-vm.md
            
          
    Create a ROS Humble VM with Ubuntu 22.04

Create a VM with the Ubuntu 22.04 installer. Make sure to connect the VM to the LAN, so that
any physical robots can connect to it.
Install XRDP

sudo apt install xrdp

Ensure that xrdp is enabled and running after a reboot
 sudo systemctl enable --now xrdp

If you are going to be connecting to the VM from a windows machine open the RDP port in the firewall
sudo ufw allow from 192.168.0.0/16 to any port 3389 proto tcp

Allow remote desktop users to handle package management. This is to prevent many, many, many authentication required
dialogs from appearing. Create a file called /etc/polkit-1/localauthority/50-local.d/45-allow-package-management.pkla with
the following content
[Allow Package Management all Users]
Identity=unix-user:*
Action=org.debian.apt.*;io.snapcraft.*;org.freedesktop.packagekit.*;com.ubuntu.update-notifier.*
ResultAny=no
ResultInactive=no
ResultActive=yes

Install zsh

NOTE: Picked zsh because it has better highlighting and completion, but also catkin generates
zsh scripts.
Install zsh:
sudo apt-get install zsh

Make zsh default
chsh -s /bin/zsh

Install Powerline fonts
sudo apt-get install fonts-powerline

Install git
sudo apt install git

Install oh-my-zsh
sh -c "$(wget https://raw.githubusercontent.com/robbyrussell/oh-my-zsh/master/tools/install.sh -O -)"

Install autosuggestions
git clone https://github.com/zsh-users/zsh-autosuggestions.git $ZSH_CUSTOM/plugins/zsh-autosuggestions

Install highlighting
git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting

Update the plugins line in the .zshrc file
plugins=(git zsh-autosuggestions zsh-syntax-highlighting)

Install VS Code

Install the MS package repository
wget -qO- https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg
sudo install -o root -g root -m 644 packages.microsoft.gpg /etc/apt/trusted.gpg.d/
sudo sh -c 'echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/trusted.gpg.d/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" > /etc/apt/sources.list.d/vscode.list'
rm -f packages.microsoft.gpg

Configure apt https transport
sudo apt install apt-transport-https
sudo apt update

Install VS Code
sudo apt install code

Additional python packages

sudo apt install python3-pip

Install argument completion so that we can use it with the ROS2 command line
pip3 install argcomplete

Install ROS Humble

Install the ROS packages
Install at least the following packages:

ros-humble-desktop
ros-humble-simulation
ros-humble-navigation2
ros-humble-octomap
ros-humble-controller-manager
ros-humble-ros-environment
ros-humble-tf2
ros-humble-xacro
python3-rosinstall
python3-wstool
python3-rosdep

Install the build tools
sudo apt install python3-colcon-common-extensions

Source the colcon autocomplete script (in /usr/share/colcon_argcomplete/hook/colcon-argcomplete.zsh) in your .zshrc file
Install Ignition (Gazebo)

Install some of the tools
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

Then install Ignition (example given for installing the 'Fortress' version)
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install ignition-fortress