Overview

This repository contains step-by-step instructions on how to create an Ubuntu partition on a computer and set it up. With exactly the same setup, all ROS scripts are plug-and-play, or can be used after the setup described there.

Pay attention: Some pictures & screenshots are taken in German. So please pay attention to the exact positions!

Table of contents

• Create Partition & Ubuntu BootStick
• Installation of Ubuntu
• Setting up generals
• Installation ROS
• Workspaces & ROS environment
• Installation libraries
• Tips & Information

Partition & Ubuntu BootStick

Setting up the Ubuntu partition

This step is only necessary if the partition has not yet been created. This means that if it already exists or the hard drive is still empty, you can skip to the next step.

1. Open the "Disk Management"-tool
2. Select the disk on which you want to create the partition with Ubuntu and right-click the name of it. Select "Shrink Volume"
3. Now decide how much space you want to use for your Ubuntu partition. (We recommend between 50GB-100GB)
4. We leave the space free without any partition system or name because for the installation of Ubuntu we need to declare the space on our own.

Creating the Ubuntu BootStick

1. Download the iso-file for Ubuntu 20.04
2. Install software to create bootable mediums, like USB-Sticks, we recommend for this Rufus.
3. Open Rufus and select your device, you want to boot from(The device, that should be formated and then created to a bootable medium. Pay attention taht you select the right one because the data on it will deleted permanently). Press the selection button and select your downloaded iso-file. Leave the other boxes, as recommended by Rufus.
4. Click on "START" and wait for the finished BootStick.

Installation Ubuntu

The installation wizard opens automaticly, there you select "Install Ubuntu". Follow the instructions till the installation page.

Select "Normal installation" and add the option "Install third-party software for graphics and Wi-Fi hardware and additional media formats. Tick off the "Turn off Secure Boot" option.

1. Select "Something else" and press "Continue".
2. There is a 'partion' called "free space", click it and press on the "+"-button. Enter 512 MB into the size-box. Select at the "Use as"-selection "swap area" and hit "OK".
3. Select the free space 'partition' and hit the "+"-button. Enter the rest of the free space into the size-box. The "Use" is "Ext4 journaling file system" and the "Mount point" is "/". To acknowledge the partion, hit "OK".
4. Hit "Install now" to install Ubuntu on your disk.

TODO paste in the Images

General Downloads & Settings

TODO for Markus

Installation ROS

Below we show the step-by-step instructions for installing ROS. At the end there will also be an explanation for a script that completely installs and compiles ROS. TODO for Markus

Setup 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'

Install curl

sudo apt install curl

Set up your keys

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

Put your system up-to-date

sudo apt update

Install the ros desktop-full kit

sudo apt install ros-noetic-desktop-full

Source the setup-Script

source /opt/ros/noetic/setup.bash

Configurate your Terminal

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

Apply the configuration

source ~/.bashrc

Install python3-ros dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Initialize the dependencies

sudo rosdep init

Update the dependencies

rosdep update

Now ROS is perfectly installed and you can add the workspaces and other libraries we need.

ROS Workspaces & Environment

Now we are ready to set-up and install our ROS workspace & environment. So below you find a step-by-step description to do so.

Source the setup-Script

source /opt/ros/noetic/setup.bash

Move to your home directory.

cd ~

Create the workspace folder.

mkdir -p ~/catkin_ws/src

Switch to your catkin_ws folder.

cd ~/catkin_ws/

Make your workspace with the possibility of using Python3.

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

Source your new setup.bash file.

source devel/setup.bash

To ensure, everything went fine run

echo $ROS_PACKAGE_PATH

TODO for Markus

Used libraries

TODO for Markus

Tips & Information

TODO for Markus (Script)