Lab 1: Setting Up Your Development Environment

Objective

By the end of this lab, you will have a fully functional ROS 2 environment with Gazebo simulation, ready for humanoid development.

Steps

1. Install Ubuntu 22.04

Ensure you are running Ubuntu 22.04 LTS. You can use dual-boot or WSL2 (Windows Subsystem for Linux).

2. Install ROS 2 Humble

Follow the official guide or use this one-liner:

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update
sudo apt install ros-humble-desktop

3. Install Gazebo Fortress

sudo apt-get install ros-humble-ros-gz

4. Verify Installation

Open a terminal and run:

ros2 run demo_nodes_cpp talker

Open another terminal and run:

ros2 run demo_nodes_cpp listener

You should see messages being published and received.

Deliverables

Submit a screenshot of your terminal showing the talker and listener nodes running side-by-side.