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GETTING_STARTED.md

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Getting Started:

Ubuntu Installation:

Follow this Ubuntu 20.04 Full Installation Walkthrough by LearnLinuxTV.

This process includes creating partitions for Ubuntu, installing the OS, and modifying the bootloader.

⚠️ Please proceed with caution. Any mistake may lead to loss of data and accessibility to Windows OS. Do not panic and consult a technical expert if such a situation arises.

ROS Installation:

ROS version is dependant on Ubuntu version as:

  • ROS Melodic - Ubuntu 18.04
  • ROS Noetic - Ubuntu 20.04

Follow this link http://wiki.ros.org/ROS/Installation for a detailed installation guide.

  1. Setup sources and keys
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
  1. Installation, replace <distro> with melodic or noetic
sudo apt update
sudo apt install ros-<distro>-desktop-full
source /opt/ros/<distro>/setup.bash
echo "source /opt/ros/<distro>/setup.bash" >> ~/.bashrc
  1. Finishing up
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update
  1. Setup Catkin Build
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python3-catkin-tools

Setup Git SSH:

A device can be registered as a trusted device in your GitHub Account through an SSH key, allowing easy pull and push actions without entering a password every time.

  1. Keep pressing Enter key for subsequent steps after running the command below to complete SSH setup with default settings.
ssh-keygen -t ed25519 -C "[email protected]"

  1. Navigate to your GitHub Account -> Settings -> SSH and GPG Keys -> New SSH Key.

  2. Enter any title (your PC name preferably) and copy & paste the generated lines from the terminal using the command below.

cat ~/.ssh/id_ed25519.pub

Setup ROS Workspace:

cd ~/ && mkdir tiburon_ws   # creates a new workspace in home directory
cd tiburon_ws && mkdir src  # creates a src folder in tiburon_ws
catkin build                # builds all packages in the workspace
echo "source ~/tiburon_ws/devel/setup.bash" >> ~/.bashrc # automatically source the workspace
source ~/.bashrc            # source bashrc to apply changes