1 1 00:00:01,070 --> 00:00:05,380 In this video, we're going to be building ROS from Source. 2 2 00:00:05,920 --> 00:00:09,340 The version which we're going to be using is ROS 2 Foxy 3 3 00:00:09,780 --> 00:00:12,930 and we will be building for Source for the Linux distribution 4 4 00:00:13,140 --> 00:00:14,550 for Ubuntu 20 5 5 00:00:15,690 --> 00:00:18,420 If we scroll down, we can just go along and follow along 6 6 00:00:18,430 --> 00:00:20,250 with the steps listed out in this guide. 7 7 00:00:20,930 --> 00:00:23,490 I'll go ahead and put this off to the side. 8 8 00:00:24,040 --> 00:00:30,250 We'll open up a terminal and we can see the first thing we need 9 9 00:00:30,260 --> 00:00:32,290 to do is set our local by default. 10 10 00:00:32,299 --> 00:00:35,500 This should already be set correctly to UTF-8, which 11 11 00:00:35,510 --> 00:00:35,710 it is. 12 12 00:00:35,960 --> 00:00:39,950 So then we'll move on to adding our ROS2 apt repository. 13 13 00:00:43,100 --> 00:00:47,280 Put these commands in one at a time since there's a pseudo 14 14 00:00:47,400 --> 00:00:49,650 in front of it which will prompt you for your password. 15 15 00:00:57,040 --> 00:01:00,020 Alright, then we'll run the curl part of this command. 16 16 00:01:04,099 --> 00:01:09,740 We can see that it got added correctly and then we'll add 17 17 00:01:09,750 --> 00:01:18,620 the repository to our sources list and we should be good 18 18 00:01:18,630 --> 00:01:19,130 to go on that. 19 19 00:01:20,380 --> 00:01:23,020 Now we can go ahead and install the development tools and 20 20 00:01:23,030 --> 00:01:24,640 ROS tools which we're going to be using. 21 21 00:01:24,580 --> 00:01:27,700 Most of these may have gotten pre installed if you installed 22 22 00:01:27,710 --> 00:01:31,610 ROS2 from the binaries, but just to make sure we'll go 23 23 00:01:31,620 --> 00:01:35,030 ahead and rerun these commands to make sure they are installed. 24 24 00:01:41,120 --> 00:01:44,370 Alright, Let's move on to installing the Python modules. 25 25 00:01:51,530 --> 00:01:55,350 Then we'll install our Fast RTS dependencies which is for 26 26 00:01:55,360 --> 00:01:56,910 our security configurations. 27 27 00:02:01,200 --> 00:02:04,870 And then we will also install Cyclone DDS dependencies. 28 28 00:02:10,759 --> 00:02:12,030 Okay, great. 29 29 00:02:12,040 --> 00:02:14,280 We went ahead and install our dependencies. 30 30 00:02:14,580 --> 00:02:17,940 So now we'll go ahead and actually grab our ROS2 code 31 31 00:02:18,200 --> 00:02:21,320 from the GitHub repository and we'll go ahead and download 32 32 00:02:21,330 --> 00:02:22,520 it and build it from source. 33 33 00:02:22,530 --> 00:02:26,300 So here we can see we need to make a ROS2 Foxy Workspace 34 34 00:02:26,310 --> 00:02:29,550 directory rather than putting it in my home folder like it 35 35 00:02:29,560 --> 00:02:30,150 tells me to. 36 36 00:02:30,210 --> 00:02:34,020 Instead I'm going to put it in my Workspace folder which 37 37 00:02:34,030 --> 00:02:36,870 I have here in my home directory which we have been using 38 38 00:02:36,880 --> 00:02:37,740 throughout the course. 39 39 00:02:37,750 --> 00:02:41,280 And here you can see our Udemy ROS2 workspace. 40 40 00:02:41,480 --> 00:02:45,320 So I will go ahead and add to this by running similar commands 41 41 00:02:45,330 --> 00:02:46,190 to what they have there. 42 42 00:02:46,200 --> 00:02:50,280 So I'll go ahead and make a directory for ROS2 underscore 43 43 00:02:50,280 --> 00:02:52,290 Foxy and Source. 44 44 00:02:52,920 --> 00:02:56,340 And we don't want to forget the Dash P flag so that we can 45 45 00:02:56,350 --> 00:02:58,350 make both of these directories at the same time. 46 46 00:02:58,890 --> 00:03:02,790 And now I have a new Workspace folder, so I'll go ahead and 47 47 00:03:02,800 --> 00:03:07,010 CD into it and we will go ahead and use wget command to 48 48 00:03:07,020 --> 00:03:09,920 get the repos that we need for us to. 49 49 00:03:10,750 --> 00:03:11,750 Alright. 50 50 00:03:11,760 --> 00:03:14,540 And then we can go ahead and actually import them into our 51 51 00:03:14,550 --> 00:03:15,140 Source folder. 52 52 00:03:21,740 --> 00:03:23,010 Okay, great. 53 53 00:03:23,020 --> 00:03:25,530 So just to give you an explanation of what we just did here, 54 54 00:03:25,540 --> 00:03:29,840 if I go ahead and open up my Workspace directory, ROS Foxy 55 55 00:03:29,850 --> 00:03:33,070 Workspace. And now if I look into my source folder, we can 56 56 00:03:33,080 --> 00:03:36,580 see all the prerequisite packages that we will be utilizing 57 57 00:03:36,590 --> 00:03:37,720 to build ROS2. 58 58 00:03:39,970 --> 00:03:42,380 Alright, with that we can move on. 59 59 00:03:42,640 --> 00:03:45,580 So we'll go ahead and install our dependencies that are related 60 60 00:03:45,590 --> 00:03:46,390 to rosdep. 61 61 00:03:46,570 --> 00:03:49,120 For the most part, this will most likely have been set when 62 62 00:03:49,130 --> 00:03:51,400 we installed ROS to Foxy from our binaries. 63 63 00:03:51,600 --> 00:03:55,080 However, if you have not done this before, then you can go 64 64 00:03:55,090 --> 00:03:56,010 ahead and do it again. 65 65 00:03:56,020 --> 00:03:59,550 Alright, so we've gone ahead and initialize our rosdep. 66 66 00:03:59,560 --> 00:04:00,810 So Let's go ahead and update it. 67 67 00:04:06,190 --> 00:04:07,430 All right. 68 68 00:04:07,460 --> 00:04:10,790 And now we can go ahead and install our other dependencies 69 69 00:04:10,800 --> 00:04:12,170 that we need to with rosdep. 70 70 00:04:26,820 --> 00:04:30,400 Alright, now that that's out of the way, we can go ahead 71 71 00:04:30,410 --> 00:04:32,410 and install additional DDS implementations. 72 72 00:04:32,740 --> 00:04:36,930 I'm not going to because I only plan on using Fast RTPS for 73 73 00:04:36,940 --> 00:04:38,730 any of my security configurations. 74 74 00:04:38,740 --> 00:04:41,880 So now we can move on to building our code in the workspace. 75 75 00:04:41,890 --> 00:04:45,120 Now, one thing to note is you need to make sure that your 76 76 00:04:45,130 --> 00:04:48,190 computer has enough space on the hard drive to complete the 77 77 00:04:48,200 --> 00:04:51,640 compilation. I recommend having at least 10 gigabytes free. 78 78 00:04:51,820 --> 00:04:55,420 You can go ahead and check how much space you have by using 79 79 00:04:55,430 --> 00:04:56,800 the disk usage analyzer. 80 80 00:04:57,100 --> 00:05:01,540 So here you can see I have 106 gigabytes available on this 81 81 00:05:01,550 --> 00:05:03,520 volume, so I should be good to go. 82 82 00:05:04,950 --> 00:05:09,460 So within my workspace directory, I will now run Colcon Build 83 83 00:05:10,000 --> 00:05:10,990 simlink install. 84 84 00:05:11,300 --> 00:05:15,380 I'll actually tag on one more thing and that additional argument 85 85 00:05:15,380 --> 00:05:20,960 will be --cmake-args and we're going to pass it. 86 86 00:05:22,520 --> 00:05:28,890 -DSECURITY=ON in all capital. 87 87 00:05:29,120 --> 00:05:31,640 I'll expand this terminal window just so you can see the 88 88 00:05:31,650 --> 00:05:32,150 full command. 89 89 00:05:32,470 --> 00:05:35,720 And what this will tell our compiler when we're building 90 90 00:05:35,730 --> 00:05:38,560 is it will tell us to build the security plugins that we 91 91 00:05:38,570 --> 00:05:41,920 will be needing to use the security configurations on our 92 92 00:05:41,930 --> 00:05:43,090 nodes later on. 93 93 00:05:43,320 --> 00:05:45,990 With that though, you can go ahead and begin building. 94 94 00:05:50,570 --> 00:05:55,530 Alright, so we see that it started building 12 of 309 complete 95 95 00:05:55,530 --> 00:05:58,980 so far, so this process will take a long time for my computer. 96 96 00:05:58,990 --> 00:06:00,630 It takes approximately an hour. 97 97 00:06:00,990 --> 00:06:04,350 That will be less or more depending on your CPU speed. 98 98 00:06:04,360 --> 00:06:07,500 So for the time being, I'll go ahead and pause this video 99 99 00:06:07,510 --> 00:06:09,900 and I'll come back when the build is complete. 100 100 00:06:11,990 --> 00:06:13,710 Alright, so here we are. 101 101 00:06:13,720 --> 00:06:16,980 We went ahead and the install finish in about 41 minutes. 102 102 00:06:16,990 --> 00:06:19,530 So just a little bit under an hour for me and we can see 103 103 00:06:19,540 --> 00:06:21,600 we installed 309 packages. 104 104 00:06:21,610 --> 00:06:24,180 And here it will list all the packages that we've gone through. 105 105 00:06:24,200 --> 00:06:27,290 So with that, the next thing we're going to have to do is 106 106 00:06:27,290 --> 00:06:31,830 now source this new ROS to installation instead of our binary 107 107 00:06:31,840 --> 00:06:33,090 that we installed earlier. 108 108 00:06:33,100 --> 00:06:36,360 And so if we Scroll down, it talks about the environment 109 109 00:06:36,370 --> 00:06:38,740 set up, so we'll pretty much be doing the same thing. 110 110 00:06:38,750 --> 00:06:41,710 And in this case, I'll go ahead and edit my bash RC file. 111 111 00:06:41,960 --> 00:06:46,040 And so here you can see I'm already sourced to the binaries 112 112 00:06:46,050 --> 00:06:48,290 that I installed earlier for ROS Foxy. 113 113 00:06:48,300 --> 00:06:50,660 So what I'm going to do is comment them out. 114 114 00:06:50,980 --> 00:06:55,720 And instead, source my new ROS2 Foxy build that we just 115 115 00:06:55,730 --> 00:06:59,500 completed. So that's currently located in Source then 116 116 00:07:00,070 --> 00:07:07,030 ~/Workspaces/ros2_foxy/install/setup.bash 117 117 00:07:07,780 --> 00:07:10,060 And I'll go ahead and save it. 118 118 00:07:10,070 --> 00:07:12,850 And this is basically the same command that we can see here 119 119 00:07:12,860 --> 00:07:13,900 that they're running. 120 120 00:07:13,990 --> 00:07:15,010 Where source 121 121 00:07:15,020 --> 00:07:16,720 And dot do the same exact thing. 122 122 00:07:17,100 --> 00:07:21,450 And we include our workspaces director here so that we're 123 123 00:07:21,460 --> 00:07:24,390 matching this directory that we followed and did the install 124 124 00:07:24,400 --> 00:07:26,300 in. All right. 125 125 00:07:26,390 --> 00:07:29,840 So now, since my bashrc file is saved with this new source 126 126 00:07:29,870 --> 00:07:33,290 directory, we can go ahead and test this out anytime we open 127 127 00:07:33,300 --> 00:07:34,130 a new terminal window. 128 128 00:07:34,140 --> 00:07:35,600 So I'll go ahead and open a new one with 129 129 00:07:35,690 --> 00:07:36,290 Control alt T 130 130 00:07:36,740 --> 00:07:39,260 I'll go ahead and minimize the other one that we just built 131 131 00:07:39,270 --> 00:07:43,400 in. And now, if I type in, whereis ROS2? 132 132 00:07:43,820 --> 00:07:46,910 You can see it's actually located in my workspaces folder. 133 133 00:07:47,040 --> 00:07:49,680 And so that's how, you know, it's sourcing the installation 134 134 00:07:49,690 --> 00:07:52,170 that we built from Source rather than the binary that we 135 135 00:07:52,180 --> 00:07:52,920 installed earlier. 136 136 00:07:52,980 --> 00:07:56,280 And I can go ahead and test out to make sure that this is 137 137 00:07:56,290 --> 00:07:58,680 working properly by running some of the demo nodes. 138 138 00:07:59,400 --> 00:08:03,450 So here we'll run the talker node, and we can see that seems 139 139 00:08:03,460 --> 00:08:04,410 to be working just fine. 140 140 00:08:04,420 --> 00:08:08,760 And just to make sure we'll do ros2 topic list, we can 141 141 00:08:08,770 --> 00:08:12,960 see our chatter topic, and we can do ros2 topic echo /chatter. 142 142 00:08:14,060 --> 00:08:16,820 And we can see the data coming over just fine. 143 143 00:08:16,830 --> 00:08:17,720 Great. 144 144 00:08:17,730 --> 00:08:20,090 With that I'll hit control in both of these terminals. 145 145 00:08:20,390 --> 00:08:23,450 And with that, you have successfully installed ROS2 from 146 146 00:08:23,450 --> 00:08:23,780 source.