Marvin Ros 2 Setup

Some scripts to setup virtual computers and environments to run some ROS 2 projects and tools.

The basic idea is to prepare virtual machines with different clean environments.

Structure

├───bash
├───doc
├───posh
├───posh-provisioning
├───ubuntu-box-vagrant
│   ├───box-jammy-humble-robot
│   ├───box-jammy-iron-harmonic
│   └───box-noble-jazzy-harmonic
├───ubuntu-dev-vagrant
│   ├───jahuha-bot
│   ├───jahuha-sim
│   ├───jammy-humble-harmonic
│   ├───jammy-iron-harmonic
│   └───noble-jazzy-harmonic
├───ubuntu-dis-vagrant
│   └───bot-jammy-humble-harmonic
├───windows-box-vagrant
└───windows-dev-vagrant

Some bash scripts

These bash scripts inf the folder bash are for setup certain steps in the ubuntu environment.

• setup-humble.sh: Setup the distribution humble as described by ROS.
• setup-iron.sh: Setup the distribution iron as described by ROS.
• setup-jazzy.sh: Setup the distribution jazzy as described by ROS.
• setup-ros2-gz-harmonic: Setup the gazebo simulation version 8 harmonic
• setup-workspace.sh: Setup a ROS workspace for the project.

Vagrant environments

The vagrant environments are used to setup virtual machines with Hyper-V and vagrant on a Windows Host. The Windows machine supports a Unix Subsystem with WSL, but sometimes a Virtual machine is easier to handle especially when you want to test environments and get rid of all artifacts after an experiment.

General workflow

Prepare vagrant workflow

To use a local file share to store the boxes we define a environment variable

VAGRANTBOXSHARE

System requirements are

• Configured Hyper-V in Windows
• Installed vagrant
• Installed 7Zip

base box combinations

We use some combinations for Ubuntu, ROS2 distribution and Gazebo distribution.

See the table

Box Name	Ubuntu distribution	Ros distribution	gazebo Version
jammy-humble-harmonic	jammy	humble	harmonic
jammy-iron-harmonic	jammy	iron	harmonic
noble-jazzy-harmonic	noble	jazzy	harmonic

Supported scenarios

The supported scenarios for ubuntu can be found in the ubuntu-dev-vagrant folder.

Box Name	Ubuntu distribution	Ros distribution	gazebo Version
jammy-humble-harmonic	jammy	humble	harmonic
jammy-iron-harmonic	jammy	iron	harmonic
noble-jazzy-harmonic	noble	jazzy	harmonic