ROS 2 Humble Setup Guide (Ubuntu 22.04 LTS)

I. ROS 2 Humble Setup or run

    ./install.sh

1. Set Locale

Before installing ROS 2, ensure your system locale is set to UTF-8.

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

2. Setup Sources

To add the ROS 2 apt repository, enable the Ubuntu Universe repository.

sudo apt install software-properties-common
sudo add-apt-repository universe

Add the ROS 2 GPG key with apt.

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

3. Install ROS 2 Packages

Update your apt repository caches and install ROS 2 packages.

sudo apt update
sudo apt upgrade

sudo apt install ros-humble-desktop

Install development tools.

sudo apt install ros-dev-tools

4. Environment Setup

To start working with ROS 2, source the setup script in each terminal session.

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && source ~/.bashrc

5. Try Some Examples

Talker-Listener Example

Open a terminal and start a talker node:

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py talker

Open another terminal and start a listener node: ✅

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener

II. OpenCV 4.8.0+ Installation for Librealsense

# Install dependencies
sudo apt update
sudo apt install -y build-essential cmake pkg-config \
libjpeg-dev libtiff-dev libpng-dev \
libgtk-3-dev libcanberra-gtk* \
libatlas-base-dev gfortran python3-dev

# Download OpenCV core
git clone https://github.com/opencv/opencv.git -b 4.8.0 --depth 1
git clone https://github.com/opencv/opencv_contrib.git -b 4.8.0 --depth 1


# Enter OpenCV directory
cd opencv-4.8.0

# Build OpenCV with contrib modules
mkdir build
cd build

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_C_COMPILER=gcc-11 -D CMAKE_CXX_COMPILER=g++-11 -D CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc -D CMAKE_CUDA_STANDARD=14 -D CMAKE_CXX_STANDARD=14 -D INSTALL_C_EXAMPLES=OFF -D INSTALL_PYTHON_EXAMPLES=OFF -D OPENCV_GENERATE_PKGCONFIG=ON -D BUILD_EXAMPLES=OFF -D OPENCV_ENABLE_NONFREE=ON -D WITH_IPP=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_opencv_adas=OFF -D BUILD_opencv_bgsegm=OFF -D BUILD_opencv_bioinspired=OFF -D BUILD_opencv_ccalib=OFF -D BUILD_opencv_datasets=ON -D BUILD_opencv_datasettools=OFF -D BUILD_opencv_face=OFF -D BUILD_opencv_latentsvm=OFF -D BUILD_opencv_line_descriptor=OFF -D BUILD_opencv_matlab=OFF -D BUILD_opencv_optflow=ON -D BUILD_opencv_reg=OFF -D BUILD_opencv_saliency=OFF -D BUILD_opencv_surface_matching=OFF -D BUILD_opencv_text=OFF -D BUILD_opencv_tracking=ON -D BUILD_opencv_xobjdetect=OFF -D BUILD_opencv_xphoto=OFF -D BUILD_opencv_stereo=OFF -D BUILD_opencv_hdf=OFF -D BUILD_opencv_cvv=OFF -D BUILD_opencv_fuzzy=OFF -D BUILD_opencv_dnn=OFF -D BUILD_opencv_dnn_objdetect=OFF -D BUILD_opencv_dnn_superres=OFF -D BUILD_opencv_dpm=OFF -D BUILD_opencv_quality=OFF -D BUILD_opencv_rapid=OFF -D BUILD_opencv_rgbd=OFF -D BUILD_opencv_sfm=OFF -D BUILD_opencv_shape=ON -D BUILD_opencv_stitching=OFF -D BUILD_opencv_structured_light=OFF -D BUILD_opencv_alphamat=OFF -D BUILD_opencv_aruco=OFF -D BUILD_opencv_phase_unwrapping=OFF -D BUILD_opencv_photo=OFF -D BUILD_opencv_gapi=OFF -D BUILD_opencv_video=ON -D BUILD_opencv_ml=OFF -D BUILD_opencv_python2=OFF -D WITH_GSTREAMER=OFF -D ENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib-4.8.0/modules -D WITH_CUDA=ON -D WITH_CUDNN=ON -D WITH_CUBLAS=ON -D CUDA_ARCH_BIN=8.7 -D BUILD_opencv_cudaarithm=OFF -D BUILD_opencv_cudaimgproc=OFF -D BUILD_opencv_cudafilters=OFF -D BUILD_opencv_cudaoptflow=ON -D OPENCV_ENABLE_NONFREE=OFF -D BUILD_opencv_cudalegacy=OFF -D BUILD_opencv_cudawarping=OFF ../


      
make -j$(nproc)
sudo make install

# Refresh linker cache
sudo ldconfig

III. Camera Node Setup

** Realsense SDK Install

cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
mkdir build && cd build
cmake .. -DFORCE_RSUSB_BACKEND=ON -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install
sudo ldconfig

1. Clone the realsense_ros Repository

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros
colcon build --symlink-install

2. Source the Workspace

Source the newly built workspace:

source ~/realsense-ros/install/setup.bash

To make it persistent, add it to your .bashrc:

echo "source ~/realsense-ros/install/setup.bash" >> ~/.bashrc

IV. RTAB-Map Installation

1. Install RTAB-Map

sudo apt install -y ros-humble-rtabmap-ros

2. Ardupilot Parameter setup (Camera Downfacing)

SERIAL1_PROTOCOL = 2 (MAVLink2).

SERIAL1_BAUD = 115 (115200 baud)

VISO_TYPE = 1 (mavlink)

EK3_SRC1_POSXY = 6 (ExternalNav)

EK3_SRC1_VELXY = 6 (ExternalNav)

EK3_SRC1_POSZ = 1 (Baro which is safer)

EK3_SRC1_VELZ = 0 

EK3_SRC1_YAW = 6 (ExternalNav)

Zed cam param enable/disable path

nano ~/zed-ros2/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml

3 Run the script

---

3.1 RGB-D SLAM with Zed2i

python3 slam_aero.py --ros_cam "ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i enable_ipc:=false ros_params_override_path:=/home/deathstroke/zed_conf.yaml" --rtabmap "ros2 launch rtabmap_launch rtabmap.launch.py \
rtabmap_args:=\"--delete_db_on_start\" \
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
depth_topic:=/zed/zed_node/depth/depth_registered \
camera_info_topic:=/zed/zed_node/rgb/camera_info \
frame_id:=zed_camera_link \
use_sim_time:=true \
approx_sync:=true \
qos:=2 \
rviz:=false \
queue_size:=100"

---

3.2 RGB-D SLAM with Realsense D4XX series

python3 slam_aero.py --ros_cam "ros2 launch realsense2_camera rs_launch.py \
enable_depth:=true enable_color:=true enable_sync:=true \
depth_module.depth_profile:=640,480,30 \
rgb_camera.color_profile:=640,480,30 \
enable_sync:=true enable_gyro:=true enable_accel:=true \
unite_imu_method:=2 gyro_fps:=200 accel_fps:=200" \
--rtabmap "ros2 launch rtabmap_launch rtabmap.launch.py \
rtabmap_args:=\"--delete_db_on_start\" \
rgb_topic:=/camera/camera/color/image_raw \
depth_topic:=/camera/camera/depth/image_rect_raw \
camera_info_topic:=/camera/camera/color/camera_info \
frame_id:=camera_link \
use_sim_time:=true \
approx_sync:=true \
qos:=2 \
rviz:=false \
queue_size:=100"

---

3.3 Stereo SLAM with Zed2i

python3 slam_aero.py --ros_cam "ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i enable_ipc:=false ros_params_override_path:=/home/deathstroke/zed_conf.yaml" --rtabmap "ros2 launch rtabmap_launch rtabmap.launch.py \
rtabmap_args:='--delete_db_on_start' \
stereo:=true \
left_image_topic:=/zed/zed_node/left_gray/image_rect_gray \
right_image_topic:=/zed/zed_node/right_gray/image_rect_gray \
left_camera_info_topic:=/zed/zed_node/left_gray/camera_info \
right_camera_info_topic:=/zed/zed_node/right_gray/camera_info \
frame_id:=zed_camera_link \
use_sim_time:=true \
approx_sync:=true \
qos:=2 \
rviz:=false \
queue_size:=100 \
imu_topic:=/zed/zed_node/imu/data"

---

3.4 Stereo SLAM with Realsense D4XX Series

python3 slam_aero.py --ros_cam "ros2 launch realsense2_camera rs_launch.py \
enable_infra1:=true enable_infra2:=true enable_color:=true enable_sync:=true \
rgb_camera.color_profile:=640,480,30 \
enable_sync:=true enable_gyro:=true enable_accel:=true \
unite_imu_method:=2 gyro_fps:=200 accel_fps:=200 \
depth_module.infra_profile:=640,480,30" \
--rtabmap "ros2 launch rtabmap_launch rtabmap.launch.py \
rtabmap_args:=\"--delete_db_on_start\" \
stereo:=true \
left_image_topic:=/camera/camera/infra1/image_rect_raw \
right_image_topic:=/camera/camera/infra2/image_rect_raw \
left_camera_info_topic:=/camera/camera/infra1/camera_info \
right_camera_info_topic:=/camera/camera/infra2/camera_info \
frame_id:=camera_link \
use_sim_time:=true \
approx_sync:=true \
qos:=2 \
rviz:=false \
queue_size:=100"

---

3.5 Stereo SLAM and RGB-D SLAM with custom stereo camera

python3 slam_aero.py --ros_cam "your ros2 camera launch command" --rtabmap "your rtabmap launch command"

Flight Tests with RTABMAP SLAM