Robotino Startup Guide

GNU Grub Interface

This PC has both 22.04 and the older 16.04 installed together. On startup, you will only see the option to boot into 16.04 labelled Ubuntu 16.04 on sda1. To boot into 22.04, just pick the first option labelled simply as Ubuntu on the startup menu.

Note

By default the user is set as robotino. Uninspiringly, the password is also robotino.

bash_rc (Ctrl+H to view in home directory)

I added a few convenience functions in the secret bash folder that will help with initially sourcing ROS and running ROS related operations. bashrc is where the terminal is configured and if you would like to add your own commands, feel free to. It will not modify the system directly and if you did something that broke the terminal, just revert the changes.

Note

If you lost the file or wish to recover it to its original state, a backup can be found in https://github.com/yeezhen-robotics/Robotino-ROS_WS-Remote/tree/main/config

Below is a summary of every custom convenience function added to bashrc:

Function Name	Software Req.	Usage Description	Example
`updt`	System	Runs `apt-get update` and `apt-get upgrade` together in one command.	`updt`
`ta`	Tmux	Attaches to an existing tmux session by name.	`ta my_session`
`tls`	Tmux	Lists all currently active tmux sessions.	`tls`
`tmake`	Tmux	Creates a new tmux session with a given name.	`tmake my_session`
`talker_listener_example`	Tmux / ROS	Navigates to the talker-publisher example directory and runs its tmux launch script.	`talker_listener_example`
`runrosbagoval`	ROS	Plays back the pre-recorded ROS2 bag file for the oval simulation.	`runrosbagoval`
`runrosbagtrackdrive`	ROS	Plays back the pre-recorded ROS2 bag file for the track drive simulation.	`runrosbagtrackdrive`
`recordros2bag`	ROS	Sources the ROS2 workspace and records all active topics into a named bag file.	`recordros2bag my_recording`
`tlls`	Tmux	Lists all available tmux launch file directories in the workspace.	`tlls`
`rosbagls`	ROS	Lists all saved ROS2 bag files in the rosbags directory.	`rosbagls`
`tmuxlaunch`	Tmux / ROS	Navigates into a named tmux launch file directory and runs its launch script.	`tmuxlaunch my_launch_dir`
`srcros2`	ROS	Sources the ROS2 workspace `install/setup.bash` for the current terminal session.	`srcros2`

ROS1 (Noetic)

For Ubuntu 22.04, ROS1 is no longer supported, therefore you would need to build from source. The method below is recommended but a different method can be used too.

Repository: ROS1 22.04 Docker Image
Setup Guide: Medium article by Lukas

Sourcing ROS1 (Noetic):

source ~/ros_catkin_ws/install_isolated/setup.bash

ROS2 (Humble)

For the official installation guide, refer to the ROS2 Humble installation documentation.

Sourcing ROS2 (Jammy):

source /opt/ros/humble/setup.bash