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ROS2 User Guide

Currently we only provide prebuilt tarballs.

Use the prebuilt package​

ROS2 we support is built on Bianbu 2.0, so to avoid unnecessary environment issues, please use Bianbu 2.0 to develop and use. prebuilt includes only all packages in the base version of ROS2, as described by the repository listed in the ros2.repos file.

Environment preparation​

Setting the locale​

Make sure you have a locale that supports UTF-8

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Installation Prerequisites​

  • Install ROS2 dependencies
sudo apt-get install -y \
    libxml2-utils \
    libxrandr-dev \
    libyaml-cpp-dev \
    libyaml-dev \
    libassimp-dev \
    libbenchmark-dev \
    libzstd-dev \
    lttng-tools \
    pybind11-dev \
    pydocstyle \
    pyflakes3 \
    pyqt5-dev \
    shiboken2 \
    tango-icon-theme \
    uncrustify \
    liborocos-kdl-dev \
    libbullet-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libfreetype-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev \
    libgtest-dev \
    graphviz \
    libacl1-dev \
    libasio-dev \
    clang-format \
    google-mock \
    libsqlite3-dev \
    libssl-dev \
    libqt5svg5-dev \
    libshiboken2-dev \
    libpyside2-dev \
    liblttng-ctl-dev \
    liblttng-ust-dev \
    liblz4-dev \
    libxaw7-dev \
    curl \
    cppcheck \
    clang-format \
    libspdlog-dev \
    qt5-qmake \
    qtbase5-dev \
    libconsole-bridge-dev \
    libtinyxml2-dev \
    libopencv-dev
  • Install the system Python libraries
sudo apt-get install -y \
    python3-argcomplete \
    python3-babeltrace \
    python3-catkin-pkg \
    python3-empy \
    python3-flake8 \
    python3-flake8-builtins \
    python3-flake8-comprehensions \
    python3-flake8-docstrings \
    python3-flake8-import-order \
    python3-flake8-quotes \
    python3-jsonschema \
    python3-lark \
    python3-matplotlib \
    python3-mypy \
    python3-psutil \
    python3-pycodestyle \
    python3-pydot \
    python3-pygraphviz \
    python3-pykdl \
    python3-pyqt5 \
    python3-pyqt5.qtsvg \
    python3-pyside2.qtsvg \
    python3-pytest \
    python3-pytest-cov \
    python3-pytest-mock \
    python3-pytest-timeout \
    python3-sip-dev

Download the prebuilt package​

  • Go to Publishing page

  • Download the latest package for Bianbu OS ROS2, in this case it is located at: ~/ros2-jazzy-linux-riscv64-20240920.tar.gz

Tips

As versions iterate, there may be multiple download options for prebuilt packages, which may result in different filenames.

Install the prebuilt package​

  • Decompressing packages
sudo mkdir -p /opt/ros2/jazzy_prebuild
cd /opt/ros2/jazzy_prebuild
sudo tar -xzvf ~/ros2-jazzy-linux-riscv64-20240920.tar.gz

This will install the prebuilt package's files to the current path (in this case /opt/ros2/jazzy_prebuild).

Tips

When you use another ROS2 distribution, such as Humble, replace jazzy_prebuild with humble_prebuild in this example

The unzipped folder should look like this:

➜  jazzy_prebuild ls
bin            include           local_setup.ps1           _local_setup_util_sh.py  setup.bash  setup.zsh  tools
COLCON_IGNORE  lib               local_setup.sh            local_setup.zsh          setup.ps1   share
etc            local_setup.bash  _local_setup_util_ps1.py  opt                      setup.sh    src

Try some examples​

Use echo $0 to determine whether you're using zsh or bash, zsh is used in this example.

If you're using bash, replace all zsh with bash in the following examples, or you might get some runtime errors.

echo $0
-zsh # This line is output, please do not execute it

Basic topic communication​

Open a terminal anywhere, update ROS2's environment variables using the source command, and run the C++ talker:

source /opt/ros2/jazzy_prebuild/setup.zsh
ros2 run demo_nodes_cpp talker

In another terminal, update ROS2's environment variables using the source command, and then run Python listener:

source /opt/ros2/jazzy_prebuild/setup.zsh
ros2 run demo_nodes_py listener

You should see that the talker says it's Publishing messages, and the listener says I heard those messages.

This verifies that the C++ and Python apis are working correctly. Hooray!

Tips

This does not have to be repeated if: source /opt/ros2/jazzy_prebuild/setup.zsh is already executed in the current terminal

Start turtlesim​

If you've opened a new terminal, don't forget to run: source /opt/ros2/jazzy_prebuild/setup.zsh

For this example, please launch the terminal from the desktop. The terminal connected with ssh will not pull up the turtlesim interface

To launch turtlesim, enter the following command into your terminal:

ros2 run turtlesim turtlesim_node

You should see the simulator window pop up with a random turtle in the middle

alt text

In the terminal, under the command, you will see messages from the node:

[INFO] [1726820259.299762059] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [1726820259.366410375] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

Open a new terminal and source ROS 2 again.

Now you will run a new node to control the turtle in the first node:

ros2 run turtlesim turtle_teleop_key

Use the arrow keys on your keyboard to control the turtle. It will move around the screen, using its attached “pen” to draw the path it followed so far.

Summary​

See jazzy for more example tutorialsThe Official Tutorial

Since you are using pre-compiled ROS2, please skip the steps to install ROS2 when you come across them.

If you are prompted for a missing package, consider compiling from the source package or contact us.