[LINUX] ROS study # 1 Install ros-noetic on ubuntu 20.04

I changed the version of ubuntu to 20.04, so I reinstalled ros.

The impression was swamp of swamp

First of all, the ros-melodic I used before doesn't seem to work with 20.04LTS 20.04 LTS announced a new version called noetic, so I installed it

And before that

It seemed that melodic-related dependencies were in the way, so I deleted all ros-related ones.

sudo apt-get remove ros-*
sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade

This should be straightforward (I didn't know later)

Finally welcome noetic

First add noetic repo.

echo "deb http://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros-focal.list

Then somehow register the key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Do it as usual

sudo apt update

Finally install

sudo apt install ros-noetic-desktop-full

I usually made it desktop-full. There seem to be many other things. Reference article https://varhowto.com/install-ros-noetic-ubuntu-20-04/

Install rosdep

This was also a swamp

sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstool build-essential
sudo rosdep init
rosdep update

At this point, I had to erase the previously remaining rosdep. Reference article http://wiki.ros.org/noetic/Installation/Source

Install rosinstall

I didn't write it anywhere ...

sudo apt-get install python3-rosinstall

The rest is on the official wiki

$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
$ rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
$ mkdir ./src
$ vcs import --input noetic-desktop.rosinstall ./src
$ rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

The last one took a tremendous amount of time. I'm worried because it's quite different from melodic.

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