install_ros2.txt

This file is for making installing ROS2 on Ubuntu easier. Theres a turtlebot3 demo at the end to make sure everything is up and running.

If you're dual booting into Ubuntu, skip the VM(Virtual Machine) steps, open 3 terminals through Activites -> Terminal, and skip straight to TERMINAL 1

Requirements:
	Linux or Windows computer(You will need to find your own virtualization software if you use MAC)
	
	VirtualBox
	
	40GB-100GB

	64 bit OS

Install the Ubuntu 20.04 iso that matches your chipset, pick the one here if you your chipset is AMD64(most modern pcs and laptops have this)
	https://releases.ubuntu.com/focal/ubuntu-20.04.5-desktop-amd64.iso
	
VM parameters:
	- 8192 MB ram
	
	- Create virtual hard disk now
	
	- VDI
	
	- Fixed Size
	
	- 40-100 GB
	

then, click on your vm and go into settings:
	go to system:
		- Set processors to half of the ammount of cores you have. Or if you only have 2, set this ammount to 2.
	go to storage
		- click  disk and click add.
		
		- add the ubuntu 20.04 iso that you installed
		
	go to general
		- click advanced
		
		- set shared clip board to "Host to Geust"


Then start the virtual machine and we'll go through the installation


	- normal installation
	- INSTALL THIRD PARTY SOFTWARE FOR GRAPHICS AND WIFI HARDWARE. 
	YOU WILL NOT HAVE YOUR NVIDIA GRAPHICS DRIVERS(if you use a nvidia GPU)
	IF YOU DONT
	
	- erase disk and install ubuntu
	
Then, run ubuntu, and once on the desktop screen click on devices(press right ctrl + c to get
back to scaled mode so you can see it if you can't), and click "insert geust additions cd"
	- say yes to everything, and then restart ubuntu
	
Once back on desktop for ubuntu:
	- go to view, select virtual screen, set resolution to your screen size.
	
	(IF USING VIRTUALBOX)
	- press right-ctrl + c to exit scaled mode, click devices in top bar, and click "insert geust additions cd image" select yes to everything that 
	pops up
	(CONTINUE)
		
	- then click activites, type "terminal", right click add to favorites, and then create 3 windows. Execute the following in each window by copying n' pasting the code blocks below

Now, reopen this page inside firefox in the virtual machine and copy and paste the following commands:
	
TERMINAL 1(IF USING VIRTUABOX AND CLIPBOARD ISN'T WORKING):
sudo apt update ; \
sudo apt install build-essential dkms linux-headers-$(uname -r) ; \
sudo apt install virtualbox-guest-x11 ; \
sudo VBoxClient --clipboard

TERMINAL 1:


sudo apt-get update -y ; \
sudo apt-get upgrade -y ; \
sudo apt-get install build-essential -y ; \
sudo apt update && sudo apt install locales -y ; \
sudo apt install software-properties-common -y ; \
sudo apt install curl gnupg2 lsb-release -y ; \
sudo apt-get install git -y ; \ 
sudo apt-get install python3-pip -y ; \
pip3 install -U colcon-common-extensions ; \
pip3 install pytest_rerunfailures ; \
sudo snap install --classic code ; \
sudo locale-gen en_US en_US.UTF-8 ; \
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 ; \
export LANG=en_US.UTF-8 ; \
locale  # verify settings ; \
sudo add-apt-repository universe -y ; \
apt-cache policy | grep universe ; \
sudo add-apt-repository universe -y ; \
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg ; \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
sudo apt install ros-foxy-desktop -y --allow-unauthenticated ; \
sudo apt install ros-foxy-gazebo-ros-pkgs -y ; \
sudo apt install ros-foxy-turtlebot3-msgs ros-foxy-dynamixel-sdk ros-foxy-hls-lfcd-lds-driver -y ; \
sudo apt-get install ros-foxy-teleop-twist-keyboard -y ; \
sudo apt-get install ros-foxy-cartographer-ros -y ; \
mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src ; \
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3/ ; \
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations ; \
cd ~/turtlebot3_ws ; \
colcon build --symlink-install --parallel-workers 1 ; \
echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc ; \
source ~/.bashrc ; \
source /opt/ros/foxy/setup.bash ; \
export TURTLEBOT3_MODEL=burger ; \
source install/setup.sh ; \
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py


TERMINAL 2:

cd ~/turtlebot3_ws ; \
source install/setup.sh ; \
source /opt/ros/foxy/setup.bash ; \
export TURTLEBOT3_MODEL=burger ; \
ros2 run turtlebot3_teleop teleop_keyboard


TERMINAL 3:

cd ~/turtlebot3_ws ; \
source install/setup.sh ; \
source /opt/ros/foxy/setup.bash ; \
export TURTLEBOT3_MODEL=burger ; \
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True