ROS installation

This year's module is developed on a standard ROS Noetic Installation running on a 64-bit Installation of Ubuntu 20.04LTS.

• Here is a guide to install Ubuntu alongside Windows as dual boot.
• Here is a guide to Install Linux (Ubuntu 20.04) on M1/M2 Mac Silicon. For Macs, you'll need an arm release, which you can download from here -> Download ubuntu-20.04-live-server-arm64.iso and manually install the desktop as instructed.
• We do not recommend working with ROS Windows, as in previous years students had missing packages. However, you can do at your own risk: installing ROS on Windows. Unfortunately, no support can be provided in case you choose this route.
• Since Windows 10 Build 19044+ or Windows 11, you can install ROS in Ubuntu 20.04 running on your Windows Subsystem for Linux 2 (WSL2) and access the ROS GUI apps. Please refer to the Microsoft tutorials to learn more about running Linux GUI apps with WSL. Within this route, you need to install ROS and follow this wiki guidelines using the WSL2 in the Windows Terminal.

Step 1: Install ROS

1. Open a terminal
2. sudo apt-get update && sudo apt-get dist-upgrade
3. Follow the instructions here and perform a Desktop-Full Install.

Step 2: Turtlebot3 and Gazebo installation

We will use the Turtlebot Waffle in this year's practical work.

1. Install Turtlebot3 on your PC by following the Quick Start Guide -> 3.1. PC setup. Make sure you select Noetic at the top of the screen.
2. Skip the Network Configuration part
3. Skip the rest of Quick Start (items 3.2-3.6)
4. Jump to 6.Simulation and complete the instructions

Test your setup. Open a terminal and enter the following commands:

1. export TURTLEBOT3_MODEL=waffle
2. roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch You should see an empty scene with your Turtlebot sitting in the middle:

PS. You may want to add TURTLEBOT3_MODEL to the bash script if you don't want to enter it each time you open a new terminal.

1. nano ~/.bashrc
2. export TURTLEBOT3_MODEL=waffle
3. source ~/.bashrc