Skip to main content

Quickstart: Apna ROS 2 Development Environment Setup Karna

Overview​

Yeh quickstart guide aapko help karega ek basic development environment setup karne mein ROS 2 ke saath kaam karne ke liye, jo essential hai is textbook ke "Part 2: The Robotic Nervous System – ROS 2" examples aur exercises follow karne ke liye.

Prerequisites​

  • Ek computer jo Ubuntu 22.04 (Jammy Jellyfish) ya 20.04 (Focal Fossa) run kar raha ho. Jab ke ROS 2 other operating systems support karta hai, Ubuntu recommended aur most widely supported hai.
  • Linux command line ke saath basic familiarity.
  • Internet connection packages download karne ke liye.

Step 1: ROS 2 Install Karna​

Official ROS 2 documentation follow karo apne specific Ubuntu version ke liye. Ubuntu 22.04 (Jammy Jellyfish) aur ROS 2 Humble Hawksbill ke liye:

  1. Apne sources setup karo:

    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

    sudo apt install software-properties-common
    sudo add-apt-repository universe

  2. ROS 2 GPG key add karo:

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

  3. Repository ko apne sources list mein add karo:

    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. ROS 2 packages install karo:

    sudo apt update
    sudo apt install ros-humble-desktop

    Yeh ROS 2 Humble Hawksbill desktop environment install karega.

Step 2: Environment Setup​

ROS 2 setup files ko source karo apne terminal mein ROS 2 commands available banana.

source /opt/ros/humble/setup.bash

Yeh permanently add karne ke liye apne shell mein, is command ko add karo apne ~/.bashrc (Bash ke liye) ya ~/.zshrc (Zsh ke liye) mein:

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

Step 3: colcon Install Karna (ROS 2 Build Tool)​

colcon ROS 2 mein build tool use hota hai.

sudo apt install python3-colcon-common-extensions

  1. VS Code Install karo: Official VS Code website se instructions follow karo (code.visualstudio.com).

  2. Recommended Extensions:

    • ROS: ROS 2 support provide karta hai, including launch file integration, debugging.
    • C/C++: C++ development ke liye.
    • Python: Python development ke liye.
    • Python Black Formatter: PEP 8 compliant Python code formatting ke liye.
    • Clang-Format: C++ code formatting ke liye.

Step 5: Apna Installation Test Karna​

Ek simple ROS 2 example run karo verify karne ke liye apne setup:

  1. Two terminal windows open karo.

  2. Pehle terminal mein, talker run karo:

    source /opt/ros/humble/setup.bash
    ros2 run demo_nodes_cpp talker

  3. Doosre terminal mein, listener run karo:

    source /opt/ros/humble/setup.bash
    ros2 run demo_nodes_py listener

    Aapko messages exchange hote hue dikhne chahiye talker aur listener ke darmiyan.

Congratulations! Aapka ROS 2 development environment ab fully setup ho gaya hai.