Revision as of 07:52, 26 May 2023

Advantech ROS 2 Suite Install provides a consistent experience for Advantch edge platforms ( eg. Intel, ARM - NXP iMX8 and NVIDIA Jetson ). User can easy to install and set up your ROS 2 environment and quick to start your devlopment ros application ( example: AMR, AGV, Fleet Management ... ).

ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical network is known as the Domain ID. ROS 2 nodes on the same domain can freely discover and send messages to each other, while ROS 2 nodes on different domains cannot. All ROS 2 nodes use domain ID 0 by default. To avoid interference between different groups of computers running ROS 2 on the same network, a different domain ID should be set for each group.

You'll have to set ROS domain ID while installation, for Advantech ROS2 Suite, you can choose a domain ID between 0 and 101.

Install

NOTE:

To make sure your Target system satisfy following conditions

1. Advantech platforms with certified Ubuntu Desktop 20.04 LTS or Ubuntu Desktop 22.04 LTS with SUSI driver and WISEAgent installer.
2. At least 8 GB hard drive free space
3. 8 GB RAM
4. An active Internet connection is required.
5. Use the english language environment in Ubuntu OS.

Command for install the ROS2 Suite.

$ tar zxfv adv-ros2-suite-installer-<version>.tar.gz
$ sudo ./adv-ros2-suite-installer.run

To verify the ROS2 Suite has installed successful, first step is setup ROS2 environmant variables, please replace <ROS_DISTRIBUTION> with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/<ROS_DISTRIBUTION>/setup.bash

Senondly, print ROS2 environmant variables

$ printenv | grep ROS

If the installation is successful, you can see below output:

ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=0
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=foxy

Uninstall

Command for uninstall the ROS2 Suite.

$ cd /usr/local/Advantech/ros
$ ./uninstall.sh

Function

Command for set ROS_DOMAIN_ID of the ROS2 Suite application.

$ cd /usr/local/Advantech/ros
$ bash -i change-ros-domain-id.sh

It can also be manually set ROS_DOMAIN_ID in host or container by following steps.

Set ROS_DOMAIN_ID in host

$ echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc

Set ROS_DOMAIN_ID in docker container

Step1: open docker-compose.yml

$ cd /usr/local/Advantech/ros/container/edge-ros2-foxy/docker-compose/<docker_container_name>
$ vim docker-compose.yml

Step2: set ROS_DOMAIN_ID=<your_domain_id>

.
.
.
   environment:
    - ROS_DOMAIN_ID=<your_domain_id>
.
.
.

Step3: restart container for update environment variables of docker container

$ cd /usr/local/Advantech/ros/container/edge-ros2-foxy
$ ./stop.sh <docker_container_name>
$ ./launch.sh <docker_container_name>

Package List