ROS1 Setup and Version Compatibility

Overview

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Robot Operating System (ROS) requires specific Ubuntu versions for each release. Understanding these compatibility requirements is essential for successful robotics development.

Version Compatibility

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ROS1 Distributions

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Each ROS version requires a compatible Ubuntu version:

Two-Device Setup

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Desktop PC

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Primary development machine:

• Full Ubuntu installation
• ROS development tools
• Simulation (Gazebo, RViz)
• Larger storage and memory

Embedded System (TurtleBot3)

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Robot’s onboard computer:

• Raspberry Pi or similar
• Lightweight Ubuntu version
• ROS communication nodes
• Hardware drivers

Hardware Considerations

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Embedded System Limitations

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Version Selection Strategy

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1. Check embedded system’s Ubuntu support
2. Match ROS version to that Ubuntu
3. Install same ROS on desktop
4. Ensure network compatibility

Installation Overview

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Desktop Installation

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# Setup sources
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# Setup keys
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

# Install
sudo apt update
sudo apt install ros-noetic-desktop-full

# Environment setup
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Embedded System Installation

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Minimal installation for Raspberry Pi:

# Install ROS base (no GUI)
sudo apt install ros-noetic-ros-base

# Install TurtleBot3 packages
sudo apt install ros-noetic-turtlebot3

Network Configuration

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ROS Master Setup

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On desktop (master):

export ROS_MASTER_URI=http://<desktop_ip>:11311
export ROS_HOSTNAME=<desktop_ip>

On robot:

export ROS_MASTER_URI=http://<desktop_ip>:11311
export ROS_HOSTNAME=<robot_ip>

Communication Check

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# On desktop
roscore

# On robot
rostopic list

Common Issues

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TurtleBot3 Specific

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Supported Configurations

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Quick Start

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# Set model
export TURTLEBOT3_MODEL=burger

# Launch robot
roslaunch turtlebot3_bringup turtlebot3_robot.launch

# On desktop - teleop
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch