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Ubuntu & ROS

1. Install Ubuntu

  1. create a new virtual machine and choose customized.

ubuntu_step1

  1. choose the version depend on your own choice.

ubuntu_step2

  1. choose your path of image and install system later.

ubuntu_step3

  1. choose Linux and Ubuntu 64.

ubuntu_step4

  1. name your machine and place it as you want.

  1. assign processor for your virtual machine.

  1. assign memory for your virtual machine.

  1. add NAT for your network.

  1. choose LSI Logic

  1. default value is fine.

  1. default value is fine.

  1. assign 30-40 GB for your virtual machine.

  1. default value is fine.

  1. see your configuration and complete it.

  1. start your machine we configured and wait for a while. Then we will see this interface and choose install ubuntu.

  1. choose language (English is preferred.)

  1. the author prefers to Minimal installation.

  1. Install now!

  1. shanghai!

  1. set your user name and password and wait for a while.

2. Install ROS

  1. update source
sudo apt update 
sudo apt upgrade
  1. install ROS
# add ROS source
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# or Tsinghua source
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main" > /etc/apt/sources.list.d/ros-latest.list'
# add ROS key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# install ros
sudo apt update 
sudo apt install ros-noetic-desktop-full
# add path to bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# test ros
roscore
# started core service
  1. install Universal_Robot package
sudo apt install ros-noetic-ur-msgs
sudo apt install ros-noetic-ur-gazebo
sudo apt install ros-noetic-ur-description
sudo apt install ros-noetic-ur-client-library

Problems may occur when you install all these things. Feel free to ask TAs for help if you can not solve them.