User_Inst_ROSOnUbuntu

1.3 ROS on Ubuntu

Note: This tutorial assumes that you have completed Ubuntu on VM tutorial.

1. Setting up ROS

1. Check ROS Distributions Page for ROS/Ubuntu compatibility.

   • For Ubuntu 22, follow this tutorial to install ROS2 Hubmle.
   • For Ubuntu 20, follow this tutorial to install ROS Noetic

2. Follow this tutorial to configure the ROS1 and this tutorial for ROS2 environment.

2. Setting Up ROS Websocket

ROS# uses websocket. So you need to install and launch a ROS 1 or ROS 2 websocket on your system. Here's how:

• For ROS1

# Install rosbridge_suite
sudo apt-get install ros-noetic-rosbridge-suite

# Launch ROS 1 websocket
roslaunch rosbridge_server rosbridge_websocket.launch

• For ROS2

# Install rosbridge_suite
sudo apt-get install ros-humble-rosbridge-server

# Launch ROS 2 websocket
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

3. Learning your Local IP

You can find your local IP address using,

• hostname -I (Ubuntu)
• ifconfifg (Ubuntu, requries network tools)
• ipconfig (Windows)

Note: ROS#, Unity, and .NET projects: Ensure that ROS# and your ROS websocket server are running on the same local network.

Next tutorial: Gazebo Setup on VM

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