Robot Programming with ROS2

Welcome to the Robot Programming with ROS2 repository. This repository contains the source code examples and extended project materials based on the book "A Concise Introduction to Robot Programming with ROS2" by Francisco Martín Rico. This project aims to provide a comprehensive guide and additional resources for readers and practitioners of the book to deepen their understanding of robot programming using ROS2.

About the Book

"A Concise Introduction to Robot Programming with ROS2" offers readers a structured and clear introduction to robot programming with ROS2.

Order the book here: Book

Original Repository

This repository extends and provides solutions to some issues found in the original book's repository. You can find the original source code and materials at fmrico/book_ros2.

Requirements

This repository is tested and maintained for the Humble Hawksbill branch, requiring:

• Ubuntu 22.04 LTS
• ROS2 Humble Hawksbill

Installation

Follow these steps to set up your environment and start with the robot programming projects:

Set locale

locale

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

locale

Install Necessary Packages

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y

Add ROS 2 Repository Key

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

3. Add ROS 2 Repository to Sources List

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

4. Install ROS 2 Foxy Packages

sudo apt-get update
sudo apt upgrade
sudo apt install ros-humble-desktop

5. Environment Setup

source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

Dependencies for Building Packages

sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-vcstool python3-colcon-common-extensions

Initialize rosdep

sudo rosdep init
rosdep update

Create a ROS 2 Workspace

mkdir -p ~/bookros2_ws/src
cd ~/bookros2_ws/src
git clone https://github.com/eather0056/Robot-Programming-with-ROS2.git

Import Third-Party Packages

cd ~/bookros2_ws/src
vcs import . < Robot-Programming-with-ROS2/third_parties.repos

Install Dependencies and Build Packages

cd ~/bookros2_ws
rosdep install --from-paths src --ignore-src -r -y
sudo apt update
colcon build --symlink-install

Additional Dependencies

Activate workspace as an overlay

source ~/bookros2_ws/install/setup.bash

Activating by default when opening a terminal

echo "source ~/bookros2_ws/install/setup.bash" >> ~/.bashrc

If you want to skip rebuilding packages that haven't had any changes since the last build in order to save time, you can use

colcon build --symlink-install --packages-up-to <package_name>

You must re-source the workspace since you have created a new program.

See the messages that are published

ros2 run rqt_console rqt_console
ros2 run rqt_graph rqt_graph

if any unwaned node running and overring your current mssages then you migh need to terminate the process ID(PID)

kill -SIGINT <PID>

You can find running processes by

ps aux

or specific one like joystick_relay

ps aux | grep joystick_relay

Usage

After installation, you can explore the various packages and launch files included in this repository. Each chapter of the book corresponds to specific packages and examples. Refer to the book for detailed explanations and instructions on running the examples.

Contributing

Contributions to this repository are welcome. Please submit issues and pull requests with any suggestions, bug reports, or new content you believe would be beneficial for others learning ROS2.