Ubuntu 22.04にROS2

RobotinoをROS2へ対応で色々と勘違いしていたので，
まずは手元のマシンにUbuntu 22.04を入れて，そこにROSを入れてみます．
とりあえず遠隔で触れるようにします．
Ubuntu 24.04のインストールあたりを参考に作業．

sudo apt-get install net-tools openssh-server
sudo apt-get update
sudo apt-get upgrade

settings から
・「System」→「users」→「Automatic Login」を有効に．
・「Power」→「Power Mode」を「Balanced」に変更（Performanceはなかった… ← マシンによるっぽい．別のマシンだと出てきた）．
・「Power」→「Power Saving Options」→「Screen Blank」を「Never」に変更．
・「Sharing」→「Remote Desktop」の「Remote Desktop」と「Remote Control」を有効に．
・「System」→「Remote Login」を有効に．
しました．
一般的な設定は，いつも通りです．

sudo apt-get install -y subversion git gcc build-essential vim screen ccache
sudo update-locale LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8
### 標準のエディタをvim に変更
# vimを選んでね．
sudo update-alternatives --config editor
### sudo をNOPASSWD で使いたいならばsudo visudo で%sudo の項目を以下のように変更
sudo visudo
### ここから（頭の#は外して下さい．）
# #%sudo  ALL=(ALL:ALL) ALL
# %sudo ALL=(ALL) NOPASSWD:ALL
### ここまで．

ROS2の設定．

sudo apt-get install -y curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install -y ros-humble-desktop ros-dev-tools gazebo ros-humble-gazebo-* ros-humble-joint-state-publisher ros-humble-rqt-*
cd
mkdir -p ros2_ws/src
cd ros2_ws
sudo rosdep init
rosdep update
source /opt/ros/humble/setup.bash
colcon build
source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/local_setup.bash

git にあがっているlibrealsense2とrobotino-daemonsがちょっと古いですね．

cd ~/Downloads
wget http://packages2.openrobotino.org/pool/focal/main/libr/librealsense2/librealsense2_2.44.0_amd64.deb
wget http://packages2.openrobotino.org/pool/focal/main/r/rec-rpc/rec-rpc_1.6.1_amd64.deb
wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-api2/robotino-api2_1.1.14_amd64.deb
wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-daemons/robotino-daemons_2.1.4_amd64.deb
wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-dev/robotino-dev_1.0.3_amd64.deb
wget http://archive.ubuntu.com/ubuntu/pool/main/b/boost1.71/libboost-program-options1.71.0_1.71.0-6ubuntu6_amd64.deb
sudo apt-get install -y libqt5serialport5 at wput jq gawk libcpprest2.10 libjq1 libonig5  libgnutls-openssl27
sudo adduser robotino
sudo dpkg -i *.deb
mkdir ~/git
cd ~/git
git clone https://github.com/robocup-logistics/ros2-robotino
cd ~/ros2_ws/src
ln -s ~/git/ros2-robotino .
cd ..
colcon build --symlink-install

READMEに従って，

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 launch rto_node robotino_driverbringup.launch.py namespace:=robotinobase1 hostname:=192.168.11.54:12080

よし，Robotino につながった！

ryukoku@ryukoku-virtual-machine:~$ ros2 node list
/robotinobase1/joy_node
/robotinobase1/robot_state_publisher
/robotinobase1/robotino_node
/robotinobase1/robotino_odometry_node
/robotinobase1/robotino_teleop
/static_transform_publisher_11F9ghIKUJCMucmw
/static_transform_publisher_V90xbQ9brfbR8Vuh
/static_transform_publisher_YU8CSvB3kb04HfA1

ryukoku@ryukoku-virtual-machine:~$ ros2 topic list
/parameter_events
/robotinobase1/analog_readings
/robotinobase1/battery_status
/robotinobase1/bumper
/robotinobase1/cmd_vel
/robotinobase1/digital_readings
/robotinobase1/encoder_readings
/robotinobase1/gripper_state
/robotinobase1/imu
/robotinobase1/irsensor_pcl
/robotinobase1/irsensor_scan
/robotinobase1/joint_states
/robotinobase1/joy
/robotinobase1/joy/set_feedback
/robotinobase1/motor_readings
/robotinobase1/odom
/robotinobase1/robot_description
/robotinobase1/set_digital_values
/rosout
/tf
/tf_static

ふむふむ．