Update Robotics Getting Started Guide to include ROS setup script. (#2407)

Author: jouillet

robotics-ai-suite/docs/robotics/gsg_robot/index.md

@@ -89,6 +89,49 @@ export USE_PROXY=0
 > defined ``http_proxy`` and ``https_proxy`` environment variables and
 > modify the command above to be `export USE_PROXY=1`
 
+### 3. Express Setup: Prepare your ROS 2 Environment
+
+In order to execute any ROS 2 command in a new shell, you first have to source
+the ROS 2 ``setup.bash`` and set the individual ``ROS_DOMAIN_ID`` for your
+ROS 2 communication graph.
+
+::::{tab-set}
+:::{tab-item} **Jazzy**
+:sync: jazzy
+
+```bash
+source /opt/ros/jazzy/setup.bash
+export ROS_DOMAIN_ID=42
+```
+
+:::
+:::{tab-item} **Humble**
+:sync: humble
+
+```bash
+source /opt/ros/humble/setup.bash
+export ROS_DOMAIN_ID=42
+```
+
+:::
+::::
+
+> **Note:** The value 42 serves just as an example. Use an individual ID for every ROS 2
+> node that is expected to participate in a given ROS 2 graph in order to avoid conflicts
+> in handling messages.
+
+- If you miss to source the ROS 2 setup bash script, you will not be able
+  to execute any ROS 2 command.
+
+- If you forget to set a dedicated ``ROS_DOMAIN_ID``, the ROS 2 command will
+  be executed and may partially behave as expected. But you have to expect a diversity of
+  unexpected behaviors too.
+
+  - Ensure you use the same ``ROS_DOMAIN_ID`` for every ROS 2 node that is
+    expected to participate in a given ROS 2 graph.
+  - Ensure you use an individual ``ROS_DOMAIN_ID`` for every ROS 2 communication
+    graph, in order to avoid conflicts in message handling.
+
 ## Step-by-step Setup
 
 The Step-by-step Setup will present a series of steps to follow which will configure and install the necessary content on your system. If you prefer to perform the steps automatically, use the [Express Setup](#express-setup) guide.

robotics-ai-suite/scripts/setup-robotics-humble.sh

@@ -146,8 +146,8 @@ run sudo apt-get install -y ros-humble-collab-slam-lze
 
 step "Adding Intel RealSense apt repository..."
 sudo mkdir -p /etc/apt/keyrings
-curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
-echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list > /dev/null
+curl -sSf https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
+echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list > /dev/null
 run sudo apt update
 echo -e "Package: librealsense2*\nPin: version 2.55.1-0~realsense.12474\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/librealsense > /dev/null
 
@@ -168,3 +168,9 @@ run sudo udevadm control --reload-rules || :
 run sudo udevadm trigger --subsystem-match=accel || :
 
 step "Setup complete."
+echo ""
+echo "###########################################"
+echo " Source ROS setup script to use this shell:"
+echo " $ source /opt/ros/humble/setup.bash"
+echo " $ export ROS_DOMAIN_ID=42"
+echo "###########################################"

robotics-ai-suite/scripts/setup-robotics-jazzy.sh

@@ -144,8 +144,8 @@ run sudo apt-get install -y ros-jazzy-collab-slam-lze
 
 step "Adding Intel RealSense apt repository..."
 sudo mkdir -p /etc/apt/keyrings
-curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
-echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list > /dev/null
+curl -sSf https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
+echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list > /dev/null
 run sudo apt update
 echo -e "Package: librealsense2*\nPin: version 2.56.5-0~realsense.17055\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/librealsense > /dev/null
 
@@ -166,3 +166,9 @@ run sudo udevadm control --reload-rules || :
 run sudo udevadm trigger --subsystem-match=accel || :
 
 step "Setup complete."
+echo ""
+echo "###########################################"
+echo " Source ROS setup script to use this shell:"
+echo " $ source /opt/ros/jazzy/setup.bash"
+echo " $ export ROS_DOMAIN_ID=42"
+echo "###########################################"