Onboarding
Environment Setup

Setup

Option 1: Dual boot

If you already have linux system running on your computer, you can start install ros2 humble on your device. Follow the steps from https://docs.ros.org/en/humble/Installation.html (opens in a new tab). After, follow the steps from https://navigation.ros.org/ (opens in a new tab)

Option 2: Take the Jetson Xavier

No installation required

Option 3: Docker image (Recommend)

Windows

  1. Install docker desktop
  2. Pull the image using docker pull ros:foxy
  3. Install vcxsrv choco install vcxsrv (Run the terminal in admin mode)
    1. https://dev.to/darksmile92/run-gui-app-in-linux-docker-container-on-windows-host-4kde (opens in a new tab)
    2. You may need to install choco first if you don't have that on your system
  4. Run XLaunch program and run through the default configuration (Disable Access Control) and save the configuration to %userprofile%\Desktop
  5. Run docker run -it --net=host -e DISPLAY=[your-ip-address]:0.0 ros:foxy
    1. For [your-ip-address], do ipconfig and find the ip of your local machine

Now you should have a docker container of ros foxy. If you want to install rviz and many of the other tools, you will need to go through the installation process defined here: https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html (opens in a new tab)

Import notes:

  1. After going through all the ros foxy installation, don't forget to source the setup file. Ideally, input the source /opt/ros/foxy/setup.bash into the ~/.bashrc file
  2. When you want to open up another terminal or want to continue on the same image you made with the docker run -it ..., use docker exec -it [container-name] bash.

Ubuntu

For ubuntu systems, installing ROS directly on the system is recommended

MacOS

Follow the installation steps shown here in the github but change out the ros:latest with ros:foxy https://gist.github.com/vfdev-5/b7685371071036cb739f23b3794b5b83 (opens in a new tab)