BIR-Intro-to-ROS2

Introduction to ROS2 Workshop materials and setup guide for the Black in Robotics Introduction to ROS2 Summer 2025 Workshop.

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📁 PC SETUP

This section provides a comprehensive guide to set up your system for the workshop, including partitioning, ROS2 setup, and configuration of the development environment.

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1. System Setup and Configuration

🔸 Option 1: Dual Boot (Highly Recommended)

• Watch Tutorial: YouTube Tutorial
• Partitioning: Configure for dual-booting with Ubuntu 22.04.
• Ubuntu Installation Guide: Ubuntu 22.04 Installation Guide

🔸 Option 2: Virtual Machine Installation

• VirtualBox: Download VirtualBox
• Ubuntu ISO: Ubuntu 22.04 LTS
• VM Tutorial: Video Guide

🔸 Option 3: DevContainer with VSCode + Docker (Beginner Friendly)- Extremely Fast ✅✅

• Visual Studio Code: Install VSCode
• Docker Desktop: Install Docker
• Follow this repo: ROS2env
• Watch this video ROS2env
• In VSCode: Click Reopen in Container

The .devcontainer folder is pre-configured with ROS2 Humble and tools.

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2. Software Setup

• Essential Developer Tools:

  sudo apt update
  sudo apt install build-essential curl git

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3. ROS2 Humble Installation

• Primary Guide: ROS2 Humble Installation Guide

• Alternative Documentation: Robocre8 Install Guide

• Post-Installation Check:

  echo $ROS_DISTRO

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🧰 Workshop Package: Mobo_BOT

Give the package a ⭐ and learn more about ROS and robotics by Robocre8.

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MoboBot Gazebo Simulation

📝 Note: Dev PC must be running Ubuntu 22.04, ros-humble-desktop, and Gazebo Ignition Fortress.

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🔧 Prerequisites

• Cyclone DDS Setup:

  sudo apt install ros-humble-rmw-cyclonedds-cpp
  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc

• Create Workspace:

  mkdir -p ~/mobo_bot_ws/src
  cd ~/mobo_bot_ws
  colcon build
  source ~/mobo_bot_ws/install/setup.bash

• Clone Arrow Key Teleop Package:

  sudo apt install python3-pip
  pip3 install pynput
  pip3 install setuptools==58.2.0
  cd ~/mobo_bot_ws/src
  git clone https://github.com/samuko-things/arrow_key_teleop_drive.git

• Build Workspace:

  cd ~/mobo_bot_ws
  colcon build --symlink-install

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📦 Clone and Build MoboBot

• Clone MoboBot Packages:

  cd ~/mobo_bot_ws/src
  git clone -b humble https://github.com/robocre8/mobo_bot.git

• Ignore Hardware (optional):

  cd ~/mobo_bot_ws/src/mobo_bot/mobo_bot_base
  touch COLCON_IGNORE

• Install Dependencies:

  cd ~/mobo_bot_ws
  rosdep update
  rosdep install --from-paths src --ignore-src -r -y

• Final Build:

  colcon build --symlink-install

• Source in New Terminals:

  source ~/mobo_bot_ws/install/setup.bash

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🔭 View Robot and TF Tree

• Robot State Publisher:

  ros2 launch mobo_bot_description rsp.launch.py use_joint_state_pub:=true

• Rviz Visualization:

  ros2 launch mobo_bot_rviz rsp.launch.py

• TF Tree:

  ros2 run rqt_tf_tree rqt_tf_tree

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🎮 Run MoboBot Simulation

• Start Simulation:

  ros2 launch mobo_bot_bringup sim.launch.py

• Control with Keyboard:

  ros2 run arrow_key_teleop_drive arrow_key_teleop_drive

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drive around with arrow keys:

  [forward-left]  [forward]    [forward-right]
                      |
  [rotate left] -------------- [rotate right]
                      |
  [reverse-left]  [reverse]    [reverse-right]

stops when no arrow key is pressed

R - reset to default speed

Q - increase v by +0.05
Z - reduce v by -0.05

W - increase w by +0.1
X - reduce w by -0.1
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• Optional Speed Parameters:

  ros2 run arrow_key_teleop_drive arrow_key_teleop_drive 0.3 0.9

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