ROS 20.04 - Shell/Bash

ROS (Robot Operating System) is an open-source, flexible framework for developing robotic software. It provides a set of tools, libraries, and conventions for building robot applications. ROS supports various programming languages such as C++, Python, and Java.

Shell/Bash is a command-line interpreter that is used to run commands and scripts in the terminal. It is an important part of any Linux distribution, including ROS. With Shell/Bash, you can execute scripts and automate tasks, making it easier to work with ROS.

Installing ROS 20.04

ROS 20.04 can be installed on Ubuntu 20.04 LTS (Focal Fossa) using the following steps:

Step 1: Set up the ROS repository

sudo apt update
sudo apt install -y curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
echo "deb https://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Step 2: Install ROS 20.04

sudo apt update
sudo apt install -y ros-foxy-desktop

Step 3: Source ROS environment

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
source ~/.bashrc

Using Shell/Bash with ROS

Running a ROS Node

ros2 run turtlesim turtlesim_node

This command will run a ROS node that simulates a turtle. You can control the turtle by publishing messages to its topic.

Creating a ROS Workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/
colcon build
source install/setup.bash

This command will create a ROS workspace in your home directory, build the workspace, and source the setup.bash file.

Creating a ROS Package

cd ~/ros2_ws/src
ros2 pkg create my_package

This command will create a ROS package called "my_package" in the src directory of your ROS workspace.

Running a ROS Launch File

ros2 launch my_package my_launch_file.launch.py

This command will launch a ROS launch file called "my_launch_file.launch.py" from the "my_package" package.

Conclusion

In conclusion, ROS 20.04 and Shell/Bash are powerful tools for developing robotic software. With ROS, you can easily build and test robot applications, and with Shell/Bash, you can automate tasks and create scripts to make your work more efficient. By using these tools together, you can achieve even more and create amazing things with robotics!