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Prepare the Target System¶

Install Ubuntu* 22.04 LTS (Jammy Jellyfish)¶

While it is recommended, a fresh installation of Ubuntu* Linux* is not mandatory for your target system.

You can download Ubuntu* 22.04 LTS (Jammy Jellyfish) from Ubuntu* ISO Download. Visit the Ubuntu website for installation instructions Install Ubuntu*.

Steps to Install Ubuntu*¶

Download the ISO file from the official website. Ubuntu* ISO Download.
Create a bootable flash drive by using an imaging application, such as Startup Disk Creator, which is available in a standard Ubuntu* desktop installation.
After flashing the USB drive, turn off the target system, insert the USB drive, and power it on. If the target system does not boot from the USB drive, change the BIOS settings to prioritize booting from the USB drive.
Follow the prompts for installation with default configurations.
After installation, power down the system, remove the USB drive and then power up.
Verify Ubuntu* is successfully installed.

Install the optimized Intel® Linux kernel¶

Installing the optimized Intel and Canonical kernel is important as it encompasses essential support for a variety of hardware drivers. This tailored kernel ensures robust system performance and seamless compatibility with Robotics SDK, as it has undergone thorough validation for optimal functionality.

Install the kernel:

sudo apt install linux-image-5.15.0-1049-intel-iotg linux-modules-extra-5.15.0-1049-intel-iotg

Modify GRUB boot options to set the new kernel as the default:

sudo sed -i 's/GRUB_DEFAULT=.*/GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 5.15.0-1049-intel-iotg"/g' /etc/default/grub
sudo update-grub

Reboot the System
After reboot, confirm that kernel version 5.15 is active:
```
uname -r
```
The expected result is:
```
5.15.0-1049-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, typically the installation includes 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.