ROS Download 2.0: How to Install and Use the Latest Version of Robot Operating System
If you are interested in developing robot applications, you have probably heard of ROS, the Robot Operating System. ROS is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source.
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But did you know that there is a new version of ROS, called ROS 2, that offers many improvements and features over the original ROS? In this article, we will explain what is ROS 2, how it differs from ROS, how to download and install it on your system, and how to use it for your robot projects.
What is ROS and Why You Need It
ROS, or Robot Operating System, is not actually an operating system, but a meta-operating system. It provides the services you would expect from an operating system, such as hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. But it also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.
ROS was created in 2007 by Willow Garage, a robotics research lab, as the development environment for their PR2 robot. Since then, it has grown into a large and active community of researchers, developers, hobbyists, and companies that use ROS for a variety of robots, such as wheeled robots, legged robots, aerial robots, industrial robots, and more.
ROS Features and Benefits
Some of the main features and benefits of using ROS are:
It is modular and distributed. You can use ROS to create complex systems by combining smaller components that communicate with each other using a publish-subscribe mechanism. You can also run these components on different machines or devices, as long as they are connected by a network.
It is open source and community-driven. You can access the source code of ROS and its packages, modify them, or contribute to them. You can also find thousands of packages that provide functionality for various aspects of robotics, such as perception, navigation, manipulation, planning, simulation, visualization, etc. You can use these packages as they are or customize them for your needs.
It is cross-platform and language-agnostic. You can run ROS on Linux, Windows, macOS, or embedded platforms (via micro-ROS). You can also write your code in different programming languages, such as C++, Python, Java, or Lisp.
It is flexible and scalable. You can use ROS for any kind of robot application, from simple tasks to complex missions. You can also adapt ROS to different hardware configurations or performance requirements.
ROS Limitations and Challenges
However, despite its popularity and usefulness, ROS also has some limitations and challenges that make it less suitable for some scenarios or applications. Some of these are:
It does not support multiple robots with the same master node. The master node is a central component that manages the communication between other nodes in a ROS system. If the master node fails or becomes unavailable, the whole system stops working.
It does not support real-time operation. Real-time operation means that a system can guarantee a certain response time or deadline for its tasks. ROS does not provide such guarantees, as it relies on the underlying operating system and network for scheduling and communication. This can lead to delays, jitter, or data loss, which can affect the performance or safety of the robot.
It does not support security features. ROS does not provide any mechanisms for encrypting, authenticating, or authorizing the communication between nodes. This can expose the robot to malicious attacks or unauthorized access, which can compromise its functionality or data.
These limitations and challenges motivated the development of a new version of ROS, called ROS 2, that aims to address them and provide a more robust and reliable framework for robot applications.
What is ROS 2 and How It Differs from ROS
ROS 2 is the next-generation of ROS that is designed to overcome the shortcomings of ROS and support new use cases and requirements. ROS 2 is not a direct successor or replacement of ROS, but a parallel project that is compatible with ROS and can interoperate with it.
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ROS 2 was first announced in 2014 and has been under active development since then. The latest stable release of ROS 2 is Galactic Geochelone, which was released in June 2021. The next planned release is H-Turtle, which is expected in May 2023.
ROS 2 Architecture and Design
The main difference between ROS and ROS 2 is the architecture and design of the communication layer. While ROS uses a custom middleware called roscpp (for C++) or rospy (for Python), ROS 2 uses a standard middleware interface called DDS (Data Distribution Service). DDS is a specification that defines how data is exchanged between distributed applications. DDS provides many features that are useful for robotics, such as:
It supports multiple Quality of Service (QoS) policies that allow fine-grained control over the reliability, durability, deadline, and priority of the data.
It supports multiple discovery mechanisms that allow nodes to find each other automatically or manually.
It supports multiple transport protocols that allow nodes to communicate over different networks or mediums.
It supports multiple security features that allow nodes to encrypt, authenticate, and authorize the data.
By using DDS as the middleware, ROS 2 can leverage these features and offer more flexibility and performance for robot applications. However, DDS also introduces some complexity and overhead, as it requires more configuration and resources than roscpp or rospy.
ROS 2 Features and Advantages
Some of the main features and advantages of using ROS 2 are:
It supports multiple robots with different master nodes. Each master node is responsible for managing the communication between a subset of nodes in a ROS 2 system. This allows for better scalability and fault-tolerance, as the failure or unavailability of one master node does not affect the whole system.
It supports real-time operation. By using DDS QoS policies and real-time operating systems (RTOS), ROS 2 can guarantee a certain response time or deadline for its tasks. This allows for more predictable and consistent behavior of the robot.
It supports security features. By using DDS security plugins and policies, ROS 2 can encrypt, authenticate, and authorize the communication between nodes. This allows for more protection and privacy of the robot's functionality and data.
It supports cross-platform and language-agnostic development. In addition to Linux, Windows, macOS, and embedded platforms (via micro-ROS), ROS 2 also supports Android, iOS, QNX, VxWorks, Zephyr, etc. In addition to C++, Python, Java, and Lisp, ROS 2 also supports C#, Go, JavaScript, Rust, etc.
It supports compatibility and migration from ROS. By using a bridge package called ros1_bridge, ROS 2 can communicate with ROS nodes and use ROS packages. This allows for a gradual transition from ROS to ROS 2 without losing functionality or compatibility.
ROS 2 Compatibility and Migration
However, despite its improvements and features, ROS 2 also has some drawbacks and challenges that make it less compatible or easy to migrate from ROS. Some of these are:
It does not support all the features or packages of ROS. Some features or packages of ROS are not yet implemented or ported to ROS 2, such as actionlib (for defining high-level goals), dynamic_reconfigure (for changing parameters at runtime), tf (for tracking coordinate frames), etc.
It does not support all the platforms or languages of ROS. Some platforms or languages of ROS are not yet supported or available for ROS 2, such as MATLAB, R, Ruby, etc.
It does not support the same syntax or conventions of ROS. Some syntax or conventions of ROS are different or changed in ROS 2, such as the naming of nodes, topics, services, parameters, etc., the structure of messages, the format of launch files, the use of command-line tools, etc.
These drawbacks and challenges require some effort and adaptation to migrate from ROS to ROS 2. However, there are some resources and guides that can help you with this process, such as the ROS 2 documentation, the ROS 2 migration guide, the ROS 2 tutorials, and the ROS 2 discourse forum.
How to Download and Install ROS 2 on Your System
If you want to try out ROS 2 on your system, you need to download and install it first. There are different ways to do this, depending on your preferences and needs. Here are some of the most common options:
ROS 2 Installation Requirements and Options
Before you download and install ROS 2, you need to make sure that your system meets the minimum requirements for running it. These are:
A supported operating system. The recommended operating systems for ROS 2 are Ubuntu Linux (20.04 or 18.04), Windows 10, or macOS Catalina or Big Sur. Other operating systems may work but are not officially supported or tested.
A supported middleware. The recommended middleware for ROS 2 is Fast DDS (formerly Fast RTPS), which is a DDS implementation that is optimized for performance and scalability. Other DDS implementations may work but are not officially supported or tested.
A supported programming language. The recommended programming languages for ROS 2 are C++ (14 or higher) or Python (3.6 or higher). Other programming languages may work but are not officially supported or tested.
Adequate disk space and memory. The exact amount of disk space and memory required for ROS 2 depends on the packages and features you want to use, but a general recommendation is to have at least 10 GB of free disk space and 4 GB of RAM.
Once you have checked that your system meets these requirements, you can choose one of the following options to download and install ROS 2:
Option 1: Use a pre-built binary package. This is the easiest and fastest way to install ROS 2 on your system. You just need to download a zip file that contains all the necessary files and dependencies for running ROS 2, and extract it to a folder of your choice. You can find the latest binary packages for different platforms here.
Option 2: Use a package manager. This is a convenient way to install ROS 2 on your system if you are using a Linux distribution that supports it. You just need to add the ROS 2 repository to your sources list and use the apt-get command to install the packages you want. You can find the instructions for different Linux distributions here.
Option 3: Build from source. This is a flexible way to install ROS 2 on your system if you want to customize it or use the latest development version. You just need to clone the ROS 2 source code from GitHub and use a tool called colcon to compile it. You can find the instructions for different platforms here.
ROS 2 Installation Steps for Different Platforms
The following table summarizes the main steps for installing ROS 2 on different platforms using different options:
Platform Option Steps --- --- --- Ubuntu Linux Binary package Download the zip file from here.
Extract it to a folder of your choice.
Source the setup file in your terminal: source /path/to/ros2/setup.bash
Ubuntu Linux Package manager Add the ROS 2 repository to your sources list: sudo apt update && sudo apt install curl gnupg2 lsb-releasecurl -s sudo apt-key add -sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
Install the packages you want using the apt-get command: sudo apt updatesudo apt install ros-galactic-desktop
Source the setup file in your terminal: source /opt/ros/galactic/setup.bash
Ubuntu Linux Build from source Install the prerequisites: sudo apt update && sudo apt install curl gnupg2 lsb-releasecurl -s sudo apt-key add -sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'sudo apt update && sudo apt install -y python3-colcon-common-extensions python3-rosdep2
Create a workspace and clone the source code: mkdir -p /ros2_ws/srccd /ros2_ws/srcgit clone the dependencies: cd /ros2_wsrosdep updaterosdep install --from-paths src --ignore-src --rosdistro galactic -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
Build the packages: colcon build --symlink-install
Source the setup file in your terminal: source /ros2_ws/install/setup.bash
Windows 10 Binary package Download the zip file from here.
Extract it to a folder of your choice.
Add the folder to your PATH environment variable.
Windows 10 Build from source Install the prerequisites: Visual Studio 2019, Python 3.8, Chocolatey, and colcon.
Create a workspace and clone the source code: mkdir c:\dev\ros2_ws\srccd c:\dev\ros2_ws\srcvcs import src
Install the dependencies: c:\dev\ros2_ws\src\ament\ament_tools\scripts\windows_install_prerequisites.bat
Build the packages: c:\dev\ros2_ws\src\ament\ament_tools\scripts\windows_build.bat
macOS Binary package Download the tar file from here.
Extract it to a folder of your choice.
Add the folder to your PATH environment variable.
macOS Build from source Install the prerequisites: XCode, Homebrew, Python 3.8, and colcon.
Create a workspace and clone the source code: mkdir -p /ros2_ws/srccd /ros2_ws/srcvcs import src
Install the dependencies: bash ros2_ws/src/ros2/rosdep/install_rosdep.sh
Build the packages: bash ros2_ws/src/ament/ament_tools/scripts/build_and_install.sh ros2_ws/
How to Use ROS 2 for Your Robot Projects
Now that you have installed ROS 2 on your system, you may wonder how to use it for your robot projects. In this section, we will introduce some of the basic concepts and terminology of ROS 2, as well as some of the tools and packages that can help you create and run your robot applications.
ROS 2 Basic Concepts and Terminology
Some of the basic concepts and terminology of ROS 2 are:
A node is a process that performs a specific function in a ROS 2 system. For example, a node can read data from a sensor, control a motor, or perform a computation.
A topic is a channel that nodes use to exchange messages. A message is a data structure that contains information relevant to the function of the node. For example, a message can contain sensor readings, commands, or status updates.
A service is a request-response mechanism that nodes use to perform synchronous communication. A service consists of a pair of messages: one for the request and one for the response. For example, a service can be used to get the current position of a robot, or to set a parameter value.
An action is a goal-oriented mechanism that nodes use to perform asynchronous communication. An action consists of three messages: one for the goal, one for the feedback, and one for the result. For example, an action can be used to move a robot to a target location, or to execute a complex task.
A parameter is a variable that nodes use to store and modify configuration values. A parameter can have different types, such as string, integer, float, or boolean. For example, a parameter can store the name of a robot, or the speed of a motor.
These concepts are illustrated in the following diagram:
ROS 2 Tools and Packages
Some of the tools and packages that can help you use ROS 2 are:
The ros2 command-line tool is a tool that allows you to perform various tasks with ROS 2, such as creating nodes, topics, services, actions, and parameters, listing and inspecting them, sending and receiving messages, etc.
The rqt graphical tool is a tool that allows you to visualize and interact with ROS 2 using a graphical user interface (GUI). You can use rqt to monitor and debug your ROS 2 system, as well as create custom plugins for your specific needs.
The rviz graphical tool is a tool that allows you to visualize and interact with 3D data in ROS 2, such as point clouds, images, maps, poses, etc. You can use rviz to display and manipulate your robot's sensors and actuators, as well as create custom displays for your specific needs.
The Gazebo simulator is a tool that allows you to simulate your robot and its environment in ROS 2. You can use Gazebo to test and evaluate your robot's behavior and performance in realistic scenarios, without risking damage or injury.
The navigation2 package is a package that provides functionality for autonomous navigation of mobile robots in ROS 2. You can use navigation2 to plan and execute paths for your robot, avoid obstacles, recover from failures, etc.
The moveit2 package is a package that provides functionality for motion planning and control of manipulator robots in ROS 2. You can use moveit2 to generate and execute trajectories for your robot's joints, avoid collisions, grasp objects, etc.
ROS 2 Tutorials and Examples
If you want to learn more about how to use ROS 2 for your robot projects, you can follow some of the tutorials and examples that are available online. Some of them are:
The official ROS 2 tutorials are a series of tutorials that cover the basics of ROS 2 development, such as creating nodes, topics, services, actions, parameters, etc. You can find the tutorials here.
The ROS 2 examples are a collection of examples that demonstrate how to use ROS 2 for various robot applications, such as navigation, manipulation, perception, etc. You can find the examples here.
The ROS 2 demos are a set of demos that showcase some of the features and capabilities of ROS 2, such as QoS, security, real-time, etc. You can find the demos here.
Conclusion
In this article, we have introduced ROS 2, the next-generation of ROS that is designed to overcome the limitations and challenges of ROS and support new use cases and requirements for robot applications. We have explained what is ROS 2, how it differs from ROS, how to download and install it on your system, and how to use it for your robot projects.
We hope that this article has given you a clear and comprehensive overview of ROS 2 and its benefits and features. If you are interested in learning more about ROS 2 or trying it out for yourself, we encourage you to check out the resources and links that we have provided throughout the article.
Thank you for reading and happy roboting!
FAQs
Here are some of the frequently asked questions about ROS 2:
What is the difference between ROS and ROS 2?
ROS 2 is the next-generation of ROS that is designed to overcome the limitations and challenges of ROS and support new use cases and requirements for robot applications. The main difference between ROS and ROS 2 is the architecture and design of the communication layer. While ROS uses a custom middleware called roscpp or rospy, ROS 2 uses a standard middleware interface called DDS.
How can I migrate from ROS to ROS 2?
You can migrate from ROS to ROS 2 gradually by using a bridge package called ros1_bridge that allows you to communicate with ROS nodes and use ROS packages from ROS 2. You can also follow the migration guide and the tutorials that provide instructions and tips for migrating your code and packages from ROS to ROS 2.
What are the advantages of using DDS for ROS 2?
DDS is a specification that defines how data is exchanged between distributed applications. DDS provides many features that are useful for robotics, such as multiple Quality of Service policies, multiple discovery mechanisms, multiple transport protocols, and multiple security features. By using DDS as the middleware, ROS 2 can leverage these features and offer more flexibility and performance for robot applications.
What are some of the tools and packages that I can use with ROS 2?
Some of the tools and packages that you can use with ROS 2 are the ros2 command-line tool, the rqt graphical tool, the rviz graphical tool, the Gazebo simulator, the navigation2 package, and the moveit2 package. You can also find thousands of other packages that provide functionality for various aspects of robotics on the official index or on GitHub.
Where can I find more information or help about ROS 2?
You can find more information or help about ROS 2 on the official website, the official documentation, the official discourse forum, or the official GitHub repository. You can also join the community channels on Slack or IRC.
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