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# ROS

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Reason: Implies python2 compatibility. Instructions need to be checked if any of the flags have changed (Discuss in Talk:ROS)

ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.

## Installation

You can install any of the ROS distributions below since they are fully released on AUR.

Noetic ros-noetic-desktop-fullAUR

Noetic is also available through an unofficial user repo: Unofficial user repositories#arch4edu

Melodic ros-melodic-desktop-fullAUR

## catkin_make in Melodic

As specified by the ROS wiki, the first catkin_make command in a clean workspace should be:

    $ catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DBOOST_ROOT=/opt/boost1.69 -DBoost_NO_SYSTEM_PATHS=TRUE

Subsequent builds should be done with just

    $ catkin_make

### Using Catkin/ROS with an IDE

#### CLion

To make CLionAUR support ROS packages, you can change the `Exec` parameter of its desktop file as follows.

    ~/.local/share/applications/jetbrains-clion.desktop

    Exec=bash -i -c "source /home/user/catkin_ws/devel/setup.sh;/opt/clion/bin/clion.sh" %f

However, `/home/user/catkin_ws` must be exchanged with your Catkin workspace. You can now open a Catkin project without cmake complaining about missing packages, hopefully. If desired or needed you can use Python 3 by adding `-DPYTHON_EXECUTABLE=/usr/bin/python3` to the CMake options which can be found in the settings.

## catkin build in Melodic

For configuring the systems using the `catkin build` environment, one have to configure the catkin workspace as usual and run:

    $ catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DBOOST_ROOT=/opt/boost1.69 -DBoost_NO_SYSTEM_PATHS=TRUE

Afterwards, use `catkin build` as normal. Please remember to reconfigure your catkin whenever you delete the configuration files (i.e. the `catkin_ws` directory)

## Rebuild when shared libraries are updated

When you update a library that ROS depends on (e.g. Boost), all packages that link to it must be rebuilt. Most AUR helpers will not detect this situation. The following script will generate a list of all packages that are linked to missing so files:

https://seangreenslade.com/h/snippets/ros-find-outofdate.py

(Note that the script requires pyalpm to be installed.)

## ROS 2

### Building using AUR

ros2-ironAUR package aims to provide an easy way to install ROS 2 on Arch Linux. After installing the package, you need to configure your environment (i.e. source) in order to use ROS 2 — See #Usage Examples.

### Usage Examples

First source the workspace, or change the directory to where you installed as before.

If you are using zsh, change source /opt/ros2/foxy/setup.bash to source /opt/ros2/foxy/setup.zsh

    $ source /opt/ros2/foxy/setup.bash

A tip to source workspace is adding a function like this your shell startup file, like .bashrc, .zshrc.

    ros2_on(){
         export ROS_DOMAIN_ID=42
         export ROS_VERSION=2
         export ROS_PYTHON_VERSION=3
         export ROS_DISTRO=foxy
         source /opt/ros2/foxy/setup.bash
    }

Remember to make any applicable changes, namely changing the ROS_DISTRO variable to the distrobution you've installed.

You can change ROS_DOMAIN_ID to your favourite number, or the number you're actually using.

Functionality comparable to `roscore`, `rosnode`, `rostopic`, `rosmsg`, `rospack`, `rosrun` and `rosservice` is available via `ros2`:

    $ ros2 -h
    usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...

    ros2 is an extensible command-line tool for ROS 2.

    optional arguments:
      -h, --help            show this help message and exit

    Commands:
      daemon    Various daemon related sub-commands
      msg       Various msg related sub-commands
      node      Various node related sub-commands
      pkg       Various package related sub-commands
      run       Run a package specific executable
      security  Various security related sub-commands
      service   Various service related sub-commands
      srv       Various srv related sub-commands
      topic     Various topic related sub-commands

      Call `ros2 <command> -h` for more detailed usage.

A typical "Hello World" example starts with running a publisher node:

    $ ros2 topic pub /chatter 'std_msgs/String' "data: 'Hello World'"

Then, in another terminal, you can run a subscriber (Do not forget to source the workspace in every new terminal):

    $ ros2 topic echo /chatter

List existing nodes:

    $ ros2 node list
    publisher_std_msgs_String

List topics:

    $ ros2 topic list
    /chatter

ROS 2's version of rviz is

    $ rviz2

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