ROS Noetic on Ubuntu 22.04

Instructions for installing ROS Noetic on Ubuntu 22.04

Install

1. Install utils

sudo apt-get install htop python3-pip net-tools curl

2. Install mamba

curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Mambaforge-$(uname)-$(uname -m).sh"
bash Mambaforge-$(uname)-$(uname -m).sh

3. Install and configure robostack

mamba create -n ros_env python=3.9 -c conda-forge
mamba activate ros_env
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
# remove the defaults channel just in case, this might return an error if it is not in the list which is ok
conda config --env --remove channels defaults
mamba install ros-noetic-desktop-full
mamba install catkin_tools
mamba install rosdep
rosdep init
rosdep update

4. Put at the end of your bashrc file

conda deactivate
conda activate ros_env

5. Open a new terminal and test roscore, if everything went fine ROS should be installed successfully
6. Always do the following steps in the ros_env environment
7. Install the necessary ROS packages using conda install -c robostack <package>, eventually it will ask for installing additional packages, just confirm and carry on

conda install -c robostack ros-noetic-gmapping
conda install -c robostack ros-noetic-amcl
conda install -c robostack ros-noetic-move-base
conda install -c robostack ros-noetic-map-server
conda install -c robostack ros-noetic-turtlebot3-teleop

... (still updating)

Creating catkin workspace

After ROS and all packages are installed, create a catkin workspace to enable local custom packages

1. Create the folder and initialization

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. In a new terminal, download or clone to catkin_ws/src the folder rmp_2023 in this repository
3. Go back to catkin_ws and run catkin_make
4. Launch the rmp_test file to start a Gazebo simulation. You should see the Pioneer2DX robot in the "shapes" environment (see image below)

roslaunch rmp_2023 rmp_test.launch

The installation is now complete

Disabling env (in case ROS is not needed anymore)

To prevent loading the env for every new terminal session, comment the section below in your bashrc

# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('/home/luiz/mambaforge/bin/conda' 'shell.bash' 'hook' 2> /dev/null)"
if [ $? -eq 0 ]; then
    eval "$__conda_setup"
else
    if [ -f "/home/luiz/mambaforge/etc/profile.d/conda.sh" ]; then
        . "/home/luiz/mambaforge/etc/profile.d/conda.sh"
    else
        export PATH="/home/luiz/mambaforge/bin:$PATH"
    fi
fi
unset __conda_setup

if [ -f "/home/luiz/mambaforge/etc/profile.d/mamba.sh" ]; then
    . "/home/luiz/mambaforge/etc/profile.d/mamba.sh"
fi
# <<< conda initialize <<<
conda deactivate
conda activate ros_env

Uninstall

Follow instructions here