ROS Ubuntu20 - Shell-Bash

Introduction

ROS (Robot Operating System) is an open-source software framework that provides a set of tools, libraries, and conventions for building complex robotic systems. ROS provides a wide range of features, including hardware abstraction, low-level device control, message-passing between processes, and package management.

Ubuntu20 is the latest version of Ubuntu, a popular Linux distribution that is widely used by developers and system administrators.

Shell-Bash is the default shell in Ubuntu, and it provides a powerful command-line interface for interacting with the operating system and running scripts.

Together, ROS Ubuntu20 Shell-Bash provides a powerful platform for developing and testing complex robotic systems.

Installation

To install ROS on Ubuntu20, follow these steps:

1. Set up your computer to accept software from packages.ros.org:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up keys:

$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. Update package lists:

$ sudo apt update

4. Install ROS:

$ sudo apt install ros-noetic-desktop-full

5. Initialize ROS:

$ source /opt/ros/noetic/setup.bash

## Basic Usage

Once ROS is installed and initialized, you can start using it by running various commands in the Shell-Bash:

1. Create a ROS workspace:

$ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace

2. Create a ROS package:

$ cd ~/catkin_ws/src $ catkin_create_pkg my_package rospy std_msgs

3. Build the package:

$ cd ~/catkin_ws $ catkin_make

4. Run a ROS node:

$ roscore

5. Open a new Terminal window and run a ROS publisher:

$ source ~/catkin_ws/devel/setup.bash $ rosrun my_package publisher.py

6. Open another Terminal window and run a ROS subscriber:

$ source ~/catkin_ws/devel/setup.bash $ rosrun my_package subscriber.py

## Conclusion

ROS Ubuntu20 Shell-Bash provides developers with a powerful platform for building and testing complex robotic systems. By following the steps outlined in this guide, you can install ROS on your Ubuntu20 machine and start building your own ROS applications.