yeshasvitirupachuri/ROS2 and Gazebo ROS Plugins Installation for Developers.md

## ROS2 and Gazebo ROS Plugins Installation for Developers.md

      
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              ROS2 and Gazebo ROS Plugins Installation for Developers.md
            
          
    ROS2 and Gazebo ROS Plugins Installation for Developers

ROS2 Source Installation

NOTE This setup is with ROS2 Dashing Diademata
ROS2 can be installed with the binaries or from the sources. It is ideal to have the source installation so that as a developer one can have more access and control over the workflow. The master branch of ros2 repositories are the currently the stable for development.

Create a workspace that holds ros2 source code

mkdir -p ~/ros2_master_ws/src
cd ~/ros2_master_ws


Get the code base repositories and import them to src directory

wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
vcs import src < ros2.repos


Install the dependencies using rosdep

sudo rosdep init
rosdep update
# [Ubuntu 18.04]
rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"


Build the code in the workspace

cd ~/ros2_master_ws
colcon build --symlink-install

Colcon build system will create build, install and log directories in ros2_master_ws workspace directory.

Source the ros2 environment to load the build libraries and executables

source ~/ros2_master_ws/install/local_setup.bash


Testing ros2 installation

Once the local_setup.bash script is sourced correctly you can verify ros2 installation by running the following talker and listener programs on seperate terminals
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

If you see the data from the talker terminal displayed on the listener terminal, everything is fine.
Setting up gazebo_ros_pkgs

Gazebo should be installed either through the binaries or from source. Currently, gazebo9 is the minimum supported version for ros2 gazebo_ros_pkgs. The installation notes related to gazebo_ros_pkgs are present here. As pointed in the overview of the ROS2 integration documentation, the stable git branch for development is ros2.

Create a workspace and get gazebo_ros_pkgs

mkdir -p ~/gazebo_ros_pks_ws/src
cd ~/gazebo_ros_pkgs


Create a file named ros2.yaml and copy the contents of this file that gets gazebo_ros_pkgs and additional packages needed.

Old Link https://bitbucket.org/snippets/chapulina/geRKyA/ros2repos-supplement-gazebo_ros_pkgs

Get the packages to the src directory

vcs import src < ros2.yaml


Build the gazebo_ros_pkgs packages

colcon build --symlink-install

NOTE: Before building this ensure that ros2 environment is sourced correctly
source ~/ros2_master_ws/install/local_setup.bash


Source the ros2 environment to load the build libraries

source ~/gazebo_ros_pkgs_ws/install/local_setup.bash

Testing gazebo_ros_pkgs


Run gazebo with a demo world

    gazebo --verbose ~/gazebo_ros_pkgs_ws/src/ros-simulation/gazebo_ros_pkgs/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

If all the environments are loaded correctly, you will see a small mobile robot spawned in gazebo.

Send control commands to the mobile robot

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1

The mobile robot moves forward in gazebo. This test concludes that the gazebo_ros_pkgs are correctly installed.