Install ROS2 and a Rust Demo Node

Install ROS2 and a Rust Demo Node #

In this tutorial we will learn how to install the pre-compiled ROS2 distribution and run a demo node written in Rust. You must have first completed the setup tutorial for an emulator or for a hardware machine and unlocked the filesystem in the Installing Packages tutorial.

If you would like to add the packages discussed in this tutorial to a custom image build, see the [custom image creation](TODO) tutorial.

Since ROS2 plays a crucial role in the Userspace, we want to make it as easy as possible to install and run your ROS2 workspaces on RACCOON OS.

You can simply install the ros-core package (remember, your filesystem must be unlocked):

# opkg install ros-core
Installing rosidl-default-runtime (1.2.0-2) on root
Downloading https://raccoon.jdiez.me/deploy/ipk/core2-64/rosidl-default-runtime_1.2.0-2-r0_core2-64.ipk.
Installing ros-environment (3.2.2-1) on root
Downloading https://raccoon.jdiez.me/deploy/ipk/core2-64/ros-environment_3.2.2-1-r0_core2-64.ipk.
Installing ros-workspace (1.0.2-2) on root
Downloading https://raccoon.jdiez.me/deploy/ipk/core2-64/ros-workspace_1.0.2-2-r0_core2-64.ipk.
Installing sros2-cmake (0.10.5-1) on root
Downloading https://raccoon.jdiez.me/deploy/ipk/core2-64/sros2-cmake_0.10.5-1-r0_core2-64.ipk.
Installing ament-index-python (1.4.0-2) on root
[... many dependencies omitted ...]
Configuring ros-core.
#

We can source the ROS2 environment setup script and use the ros2 cli as usual:

# source /usr/opt/ros/humble/setup.sh 
[... warnings omitted, see below ...]
# ros2 topic list
/parameter_events
/rosout

A few things to note here:

  • Instead of the usual base path for ROS2 being /opt/ros/$ROS_DISTRO, on RACCOON OS it is /usr/opt/ros/$DISTRO.
  • BusyBox writes some warnings about calling head with an invalid option c. ROS2 expects to be running on a sh-compatible shell, which BusyBox mostly is, but some commandline options to builtin shell functions are not available on BusyBox. This is a known issue.
  • The ros2 command takes quite a while to execute. This is a known issue in upstream ros2-cli.
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