Docker

See

• https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html

• https://docs.ros.org/en/iron/Tutorials.html

The QA forum is https://robotics.stackexchange.com/

docker pull osrf/ros2:nightly
docker run -it osrf/ros2:nightly
docker run --rm -it --network host --name ros2 -v /host/path:/container/path osrf/ros2:nightly /bin/bash
# connect to the container
docker exec -it ros2 /bin/bash

After starting the docker container,

# rolling is the name of the distro
#
# which ros2 prints: /opt/ros/rolling/bin/ros2

source /opt/ros/rolling/setup.bash

ros2 run demo_nodes_cpp talker

# In another terminal
source /opt/ros/rolling/setup.bash
ros2 run demo_nodes_py listener

printenv | grep -i ROS

prints the following:

ROS_VERSION=2
PKG_CONFIG_PATH=/opt/ros/rolling/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/rolling/lib/pkgconfig
ROS_PYTHON_VERSION=3
ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/osrf/docker_images/master/ros2/nightly/nightly/index-v4.yaml
AMENT_PREFIX_PATH=/opt/ros/rolling
CMAKE_PREFIX_PATH=/opt/ros/rolling
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
COLCON_PREFIX_PATH=/opt/ros/rolling
PYTHONPATH=/opt/ros/rolling/lib/python3.10/site-packages
LD_LIBRARY_PATH=/opt/ros/rolling/opt/rviz_ogre_vendor/lib:/opt/ros/rolling/opt/mimick_vendor/lib:/opt/ros/rolling/lib
PATH=/opt/ros/rolling/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
ROS_DISTRO=rolling

See https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/ to change the apt source. Also see https://mirrors.tuna.tsinghua.edu.cn/help/ros2/.

Install the package ros-rolling-turtlesim:

sudo apt update
sudo apt install ros-rolling-turtlesim

ros2 pkg -h

# Check that it is installed
ros2 pkg executables turtlesim

It prints:

Now we can run

# ros2 run <package_name> <executable_name>

ros2 run turtlesim turtlesim_node
ros2 node list
ros2 topic list
ros2 service list
ros2 action list
ros2 node info <node_name>

Source code for turtlesim: https://github.com/ros/ros_tutorials/tree/iron/turtlesim