A beginner's guide to start working with projects based on ROS2 using C++

This reposotory contains useful ROS2 demos.

To run this example without issues, the following environment setup are preferred.

**Note: ** In my case, I have an Ubuntu 22.04 boot on my PC.

ROS2 humble only works well with Ubuntu 22.04. To better follow the installation process
clone this repo at home directory.

cd
git clone https://github.com/kimsniper/ros2.git

Step 1: Follow installation mentioned in the link below:

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Step 2: Navigate to /opt/ros/humble. There is a file named setup.bash, this file should be source at bashrc file

Place the text below at the bottom area of .bashrc file

source /opt/ros/humble/setup.bash

Step 3: Install colcon build tool

sudo apt install python3-colcon-common-extensions

Step 4: Source colcon build tool argcomplete

This is to allow colcon build to have autocompletion. Place the text below at the bottom area of .bashrc file

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

Step 5: In home directory create the workspace directory and under it, create src directory. Then inside the workspace directory, run the following command

colcon build

Step 6: An additional three directories will be created inside the workspace. Navigate inside install directory and there will be a setup.bash file \

Be sure to source it everytime a new terminal windows is opened

OR

Place the text below at the bottom area of .bashrc file

source ~/ros2/ros2_ws/install/setup.bash

Navigate to the ros2 workspace directory and run the following command.

Build all packages

colcon build

Build specific package

colcon build --packages-select `name_of_package`

See the Colcon Tutorial Link for full steps to configure and build ROS2 packages.

sudo apt install ros-humble-gazebo*

Then source the setup.bash at .bashrc file

source /usr/share/gazebo/setup.bash

sudo apt install ros-humble-joint-state-publisher-gui

sudo apt install ros-humble-xacro

Usage tutorial to every packages is provided in a readme file inside package directories.