A Step-by-Step Guide to Installing ROS2 on Ubuntu 20.04

ROS2 (Robot Operating System 2) is the next-generation robotics middleware that offers enhanced modularity, scalability, and security compared to its predecessor, ROS. ROS2 has a significant improvement over previous versions of ROS, with a few new features and improvements. In this blog post, we will provide you with a comprehensive installation guide for ROS2 on Ubuntu 20.04. By following these step-by-step instructions, you'll be able to set up ROS2 on your machine and start building advanced robotics applications.

Before we begin, make sure you have the following prerequisites in place:

1. Ubuntu 20.04 (or a later version) installed on your machine.

2. Terminal access with sudo privileges.

In this step, load an existing PDF form using the PdfReader class. Once the PDF form is loaded, a PdfStamper object is created to facilitate the modification of the form.

Step 1: Adding the ROS2 apt repository.

To start the installation process, open a terminal and enter the following command to update your system packages and install the necessary tools:

                                
                                    
  sudo apt update && sudo apt install curl -y
                                
                            

Next, import the ROS2 repository's key by executing the following command:

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

Lastly, add the ROS2 apt repository to your package sources by running the following command:

                                
                                    
  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
                                
                            

Step 2: Updating the package list and installing ROS2.

Now, update your package list to include the newly added ROS2 repository by executing the following command:

                                
                                    
  sudo apt update
                                
                            

Finally, install ROS2 by running the following command:

                                
                                    
  sudo apt install ros-foxy-desktop
                                
                            

Step 3: Sourcing the ROS2 setup file

To enable the ROS2 environment variables, execute the following command to source the ROS2 setup file:

                                
                                    
  source /opt/ros/foxy/setup.bash
                                
                            

Step 4: Verifying the installation.

To confirm that ROS2 is installed correctly, enter the following command in the terminal:

                                
                                    
  ros2 doctor
                                
                            

If the installation was successful, you should see a message indicating that "All checks passed!"

Congratulations! You have now successfully installed ROS2 on your Ubuntu 20.04 machine. With ROS2, you have access to powerful robotics middleware that offers improved modularity, scalability, and security. Take advantage of the enhanced features provided by ROS2 and start developing advanced robotics applications. If you encounter any issues during the installation process, don't hesitate to consult the official ROS2 documentation or seek assistance from the vibrant ROS2 community. Happy robotics development!