Download ROS 2.0: A Guide for Beginners
If you are interested in robotics, you may have heard of ROS, the Robot Operating System. ROS is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source.
But did you know that there is a new version of ROS, called ROS 2.0, that has been redesigned from the ground up to address the challenges and opportunities of modern robotics systems? In this article, we will explain what ROS 2.0 is, why you should use it, how to download and install it on different platforms, and how to verify your installation and run a simple example.
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What is ROS 2.0 and why should you use it?
ROS 2.0 is the next generation of the Robot Operating System framework. ROS 2.0 has been designed with a whole new range of applications in mind:
Teams of multiple robots: while it is possible to build multi-robot systems using ROS today, there is no standard approach, and they are all somewhat of a hack on top of the single-master structure of ROS. ROS 2.0 has an abstract middleware interface, through which serialization, transport, and discovery are being provided by different implementations based on the Data Distribution Service (DDS) standard. DDS allows for more flexible and scalable communication among robots, sensors, and cloud services.
Real-time systems: many robotics applications require real-time performance, such as control loops, safety-critical systems, or autonomous vehicles. ROS 1 was not designed with real-time requirements in mind, and relied on custom solutions or external frameworks to achieve them. ROS 2.0 supports real-time systems by allowing users to specify quality-of-service (QoS) parameters for each topic, such as reliability, durability, deadline, and liveliness. QoS parameters can be used to prioritize critical messages over non-critical ones, or to drop messages that are too old or too late.
Embedded systems: as hardware becomes more affordable and powerful, more robots are using embedded devices for computation, such as microcontrollers or single-board computers. These devices have limited resources, such as memory, CPU, or battery life, and may run on different operating systems or architectures than desktop or server machines. ROS 1 was mainly developed for Linux-based systems with ample resources, and had limited support for other platforms. ROS 2.0 aims to be more portable and lightweight, by allowing users to choose which components and features they need for their application, and by supporting more platforms such as Windows, macOS, Android, iOS, or RTOS.
Commercial products: while ROS 1 was originally created for academic research, ROS 2.0 was designed specifically for commercial projects as well. This means that ROS 2.0 has more focus on security, reliability, testing, documentation, and certification than ROS 1. For example, ROS 2.0 supports encryption, authentication, and access control for communication channels using DDS security plugins; it also provides tools for testing code quality, performance, and coverage using common standards such as Cppcheck or LCOV.
ROS 2.0 features and benefits
Some of the main features and benefits of ROS 2.0 are:
Modularity: ROS 2.0 is composed of smaller and more decoupled packages than ROS 1; each package has a clear purpose and interface Modularity: ROS 2.0 is composed of smaller and more decoupled packages than ROS 1; each package has a clear purpose and interface, and can be used independently or in combination with others. This makes ROS 2.0 more flexible, maintainable, and reusable.
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Interoperability: ROS 2.0 can communicate with ROS 1 nodes using a bridge package, which allows users to leverage existing ROS 1 code and resources while migrating to ROS 2.0. ROS 2.0 can also interoperate with other middleware frameworks or protocols using different DDS implementations or plugins.
Extensibility: ROS 2.0 is designed to be easily extended and customized by users and developers. For example, users can create their own message types, QoS policies, or DDS mappings; developers can create their own middleware implementations, node lifecycle managers, or launch systems.
Usability: ROS 2.0 has improved usability compared to ROS 1, by providing more user-friendly tools, documentation, and tutorials. For example, ROS 2.0 has a unified command-line interface (CLI) called ros2, which simplifies common tasks such as creating packages, running nodes, or inspecting topics; it also has a web-based graphical interface called ros2-web-bridge, which allows users to interact with ROS 2.0 nodes and topics using a web browser.
ROS 2.0 use cases and examples
ROS 2.0 has been used for various robotics applications, such as:
Autonomous vehicles: ROS 2.0 is being used by several companies and organizations to develop self-driving cars, trucks, buses, or drones. For example, Apex.AI is building a certified software stack for autonomous mobility based on ROS 2.0; Tier IV is developing an open-source software platform for autonomous driving called Autoware.Auto; and Amazon Web Services (AWS) is offering a cloud service for simulation and testing of autonomous vehicles called AWS RoboMaker.
Industrial robots: ROS 2.0 is being used by several manufacturers and integrators to create smart and collaborative robots for industrial applications, such as manufacturing, logistics, or inspection. For example, ABB is using ROS 2.0 to enable flexible and adaptive robot programming; Universal Robots is using ROS 2.0 to enhance the capabilities and safety of its collaborative robot arms; and PickNik Robotics is using ROS 2.0 to develop advanced motion planning algorithms for industrial robots.
Social robots: ROS 2.0 is being used by several researchers and developers to create interactive and expressive robots for social and educational purposes, such as companionship, entertainment, or learning. For example, SoftBank Robotics is using ROS 2.0 to power its humanoid robot Pepper; Open Robotics is using ROS 2.0 to create a social robot platform called Tully; and Hello Robot is using ROS 2.0 to develop a friendly and affordable robot called Stretch.
How to download and install ROS 2.0 on different platforms
ROS 2.0 supports various platforms, such as Windows, Linux, macOS, Android, iOS, or RTOS; however, not all platforms have the same level of support or functionality. The recommended platforms for beginners are Windows or Linux (Ubuntu), as they have the most stable and complete binary distributions available.
Windows (binary)
To download and install ROS 2.0 on Windows (10), you need to follow these steps:
Download the latest binary release of ROS 2.0 from the official website. Choose the version that matches your system architecture (32-bit or 64-bit) and your desired distribution (Foxy Fitzroy is the latest stable release as of June 2023).
Extract the zip file to a folder of your choice (e.g., C:\ros2_foxy).
Open a command prompt (cmd) and run the following command to install the required dependencies: choco upgrade ros-foxy-desktop -y --execution-timeout=0. This will use Chocolatey, a package manager for Windows, to install various tools and libraries that are needed by ROS 2.0.
Run the following command to set up the environment variables for ROS 2.0: C:\ros2_foxy\local_setup.bat. This will allow you to use the ros2 command-line interface and other tools from any terminal.
Linux (source or Linux (source or binary)
To download and install ROS 2.0 on Linux (Ubuntu 20.04), you have two options: either build it from source or use the pre-compiled binary packages. Building from source gives you more control and flexibility, but it takes more time and effort; using the binary packages is faster and easier, but it may not have the latest features or updates.
To build ROS 2.0 from source, you need to follow these steps:
Install the required dependencies by running the following commands in a terminal: sudo apt update && sudo apt install curl gnupg2 lsb-release and curl -s sudo apt-key add - and sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' and sudo apt update && sudo apt install -y build-essential cmake git libbullet-dev python3-colcon-common-extensions python3-flake8 python3-pip python3-pytest-cov python3-rosdep python3-setuptools python3-vcstool wget and python3 -m pip install -U argcomplete flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest and sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev libcunit1-dev.
Create a workspace directory and clone the ROS 2.0 source code by running the following commands in a terminal: mkdir -p /ros2_foxy/src and cd /ros2_foxy and wget and vcs import src .
Build the ROS 2.0 packages by running the following command in a terminal: colcon build --symlink-install. This will use colcon, a tool for building ROS 2.0 packages, to compile and install them in your workspace.
Set up the environment variables for ROS 2.0 by running the following command in a terminal: . /ros2_foxy/install/local_setup.bash. This will allow you to use the ros2 command-line interface and other tools from any terminal.
To use the binary packages of ROS 2.0, you need to follow these steps:
Add the ROS 2.0 repository to your sources list by running the following commands in a terminal: sudo apt update && sudo apt install curl gnupg2 lsb-release and curl -s sudo apt-key add - and sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'.
Install the ROS 2.0 desktop package by running the following command in a terminal: sudo apt update && sudo apt install ros-foxy-desktop. This will install all the core packages and tools of ROS 2.0, as well as some common libraries and plugins.
Set up the environment variables for ROS 2.0 by running the following command in a terminal: . /opt/ros/foxy/setup.bash. This will allow you to use the ros2 command-line interface and other tools from any terminal.
macOS (source)
To download and install ROS 2.0 on macOS (10.15 Catalina), you need to build it from source, as there are no binary packages available for this platform. To build ROS 2.0 from source, you need to follow these steps:
Install the required dependencies by running the following commands in a terminal: /usr/bin/ruby -e "$(curl -fsSL and brew update && brew install asio cmake cppcheck eigen pcre poco tinyxml tinyxml2 wget and brew tap ros/deps and brew tap osrf/simulation and brew install bullet and python3 -m pip install -U colcon-common-extensions flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-cov pytest-runner setuptools.
Create a workspace directory and clone the ROS 2.0 source code by running the following commands in a terminal: mkdir -p /ros2_foxy/src and cd /ros2_foxy and wget and vcs import src .
Build the ROS 2.0 packages by running the following command in a terminal: colcon build --symlink-install --packages-skip-test rcl_logging_log4cxx rcl_logging_spdlog rmw_connext_cpp rmw_connext_shared_cpp rmw_cyclonedds_cpp rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp rmw_opensplice_cpp sros2_cmake test_security. This will use colcon, a tool for building ROS 2.0 packages, to compile and install them in your workspace, while skipping some packages that are not supported or tested on macOS.
Set up the environment variables for ROS 2.0 by running the following command in a terminal: . /ros2_foxy/install/local_setup.bash. This will allow you to use the ros2 command-line interface and other tools from any terminal.
How to verify your ROS 2.0 installation and run a simple example
To verify that your ROS 2.0 installation is working properly and to run a simple example, you can use the following steps:
Using the command line tools
You can use the ros2 command-line interface to perform various tasks, such as creating packages, running nodes, or inspecting topics. For example, you can run the following commands in different terminals to see some basic information about your ROS 2.0 system:
ros2 doctor: This will check your ROS 2.0 installation and report any errors or warnings.
ros2 node list: This will list the active nodes in your ROS 2.0 system.
ros2 topic list: This will list the active topics in your ROS 2.0 system.
ros2 topic echo /chatter: This will subscribe to the /chatter topic and print the messages that are published on it.
ros2 topic pub /chatter std_msgs/String "data: Hello, world!": This will publish a message of type std_msgs/String with the content "Hello, world!" on the /chatter topic.
Using the graphical tools
You can also use some graphical tools to visualize and interact with your ROS 2.0 system. For example, you can use the following tools:
rqt: This is a Qt-based framework that provides a plugin system for creating graphical user interfaces for ROS 2.0. You can run it by typing rqt in a terminal, and then choose from various plugins, such as rqt_graph, rqt_console, rqt_image_view, or rqt_plot.
rviz: This is a 3D visualization tool that allows you to display sensor data, robot models, or other information from your ROS 2.0 system. You can run it by typing rviz2 in a terminal, and then configure it to show different displays, such as Image, LaserScan, PointCloud2, or TF.
Gazebo: This is a physics-based simulation tool that allows you to create realistic virtual environments for testing your ROS 2.0 robots. You can run it by typing gazebo in a terminal, and then load different worlds, models, or plugins.
Using the demo nodes and topics
You can also use some demo nodes and topics that are provided by ROS 2.0 to test your installation and see some examples of how ROS 2.0 works. For ROS 2.0 is an open source project that welcomes contributions from anyone who is interested in robotics. There are many ways to contribute to ROS 2.0, such as:
Reporting bugs or issues: you can use the GitHub issue tracker of each ROS 2.0 package to report any problems or suggestions that you encounter while using ROS 2.0.
Submitting patches or pull requests: you can use the GitHub pull request system of each ROS 2.0 package to submit your code changes or improvements that fix bugs or add features to ROS 2.0.
Writing documentation or tutorials: you can use the GitHub wiki system of each ROS 2.0 package to write or update the documentation or tutorials that explain how to use ROS 2.0.
Creating or maintaining packages: you can create your own ROS 2.0 packages that provide new functionality or support for new hardware or software, and share them with the community using the ROS Index website. You can also help maintain existing ROS 2.0 packages by fixing bugs, adding features, or improving performance.
Participating in discussions or events: you can join the ROS 2.0 forum, mailing list, chat room, or social media to ask questions, share ideas, or give feedback about ROS 2.0. You can also attend or organize ROS 2.0 events, such as workshops, meetups, hackathons, or conferences.
For more information on how to contribute to ROS 2.0, you can visit the following website:
I hope this article has been helpful and informative for you. If you have any comments or questions, please feel free to contact me. Thank you for reading and happy coding! 44f88ac181
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