Install third party libraries and run a basic ROS2 application

At this point, third party libraries can be installed using apt-get. Use the following steps to install SSH and ROS2 and get a basic ROS2 application running.

  1. Install ssh:
    c:\>adb shell#apt-get install openssh-server
    #echo  "PermitRootLogin yes"  >> /etc/ssh/sshd_config
    #/etc/init.d/ssh restart
  2. Log into QRB5165 using ssh. The default credentials are,
    User name: root
    Password: oelinux123
  3. Install locales, usbutils, git, bc:
    c:\>adb shell
    #apt-get install usbutils git bc
    #apt-get -y install locales
  4. Following these instructions to install ROS2 dashing (or any) version.
    c:\>adb shell
    #locale-gen en_US en_US.UTF-8
    #update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
    #export LANG=en_US.UTF-8
    #apt update && apt install curl gnupg2 lsb-release
    #apt-key adv --keyserver --recv-keys F42ED6FBAB17C654
    #sh -c 'echo "deb [arch=amd64,arm64] `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
    #apt install ros-dashing-desktop
    #apt install python3-argcomplete
    #apt install python3-colcon-common-extensions
  5. Test if the ROS2 publish/subscribe mechanism is working.
    1. On one terminal, test the publish mechanism.
      c:\>adb shell
      #source /opt/ros/dashing/setup.bash
      #ros2 run demo_nodes_cpp talker
    2. On a second terminal, test the subscribe mechanism.
      c:\>adb shell
      #source /opt/ros/dashing/setup.bash
      #ros2 run demo_nodes_py listener
    The talker should say that it is publishing messages and the listener should say that it heard those messages. This verifies both the C++ and Python APIs are working properly. ROS2 is now up and running.