Prepare the Target System¶
Install Ubuntu* 22.04 LTS (Jammy Jellyfish)¶
It is recommended but not required that your target system has a fresh installation of Ubuntu* Linux*.
You can download Ubuntu* 22.04 LTS (Jammy Jellyfish) from Ubuntu* ISO Download. Visit the Ubuntu website for installation instructions Install Ubuntu*.
Ubuntu* Installation Overview¶
Download the ISO file for Ubuntu* ISO Download.
Create a bootable flash drive using an imaging application, such as Startup Disk Creator, included with your Ubuntu* installation.
After flashing the USB drive, power off your target system, insert the USB drive, and power on the target system.
If the target system does not boot from the USB drive, change the boot priority in the system BIOS.
Follow the prompts to install Ubuntu* with the default configurations.
Power down your target system and remove the USB drive.
Power up the target system and see Ubuntu* is successfully installed.
Install the Intel® optimized Linux kernel¶
It is important to install the optimized Intel and Canonical kernel. This kernel includes support for various hardware drivers. The Robotics SDK has been validated to function properly using this kernel.
Install the kernel:
sudo apt install linux-image-5.15.0-1043-intel-iotg linux-modules-extra-5.15.0-1043-intel-iotg
Modify GRUB boot options:
sudo sed -i 's/GRUB_DEFAULT=.*/GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 5.15.0-1043-intel-iotg"/g' /etc/default/grub sudo update-grub
Reboot System
Confirm kernel 5.15 is active:
uname -r
The expected result is:
5.15.0-1043-intel-iotg
Install ROS 2 Humble¶
To install ROS 2 on your system, follow the ROS2 setup guide.
ROS 2 Installation Overview¶
When following the ROS2 setup with Ubuntu* Deb Packages the installation include the following steps:
Setup APT sources
Install ROS packages using APT
Environment setup
Prepare your ROS 2 Environment¶
In order to execute any ROS 2 command in a new shell, you first have to source the ROS 2 setup.bash and set the individual ROS_DOMAIN_ID for your ROS 2 communication graph.
Get more information about this topic in the The ROS_DOMAIN_ID documentation.
source /opt/ros/humble/setup.bash
export ROS_DOMAIN_ID=42
Note
The value 42 serves just as an example. Use an individual ID for every ROS 2 node that is expected to participate in a given ROS 2 graph in order to avoid conflicts in handling messages.
Setup a permanent ROS 2 environment¶
To simplify the handling of your system, you may add these lines to ~/.bashrc file. In this way, the required settings are executed automatically if a new shell is launched.
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=42" >> ~/.bashrc
Important Notes¶
Note
If you miss to source the ROS 2 setup bash script, you will not be able to execute any ROS 2 command.
Note
If you forget to set a dedicated ROS_DOMAIN_ID, the ROS 2 command will be executed and may partially behave as expected.
But you have to expect a diversity of unexpected behaviors too.
Ensure you use the same ROS_DOMAIN_ID for every ROS 2 node that is expected to participate in a given ROS 2 graph.
Ensure you use an individual ROS_DOMAIN_ID for every ROS 2 communication graph, in order to avoid conflicts in message handling.