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Setup notes for Ubuntu 20 with ROS 2

Note: These are currently rather my personal notes on setting up an Ubuntu 20 VM from scratch.

Setup

Basic initial

  1. setup 24-hour time
  2. sudo apt update && sudo apt upgrade
  3. sudo apt install openssh-server
  4. sudo systemctl status ssh

Set custom hostname

Note! Before changing hostname in Settings > About, ensure that /etc/hosts contains the entry 127.0.1.1 some-new-hostname. Otherwise, a lot of commands will stop working (incl. sudo).

  1. ensure /etc/hosts contains the entry with the new hostname
    • type sudo nano /etc/hosts
    • add 127.0.1.1 ubuntu20-ros
    • save and exit (Ctrl-O Ctrl-X)
  2. change hostname to ubuntu20-ros in Settings > About
  3. sudo reboot

Setup SSH connection from your local machine

  1. add the following Host specific config to ~/.ssh/config (with useful settings) 
    # ROS
Host ubuntu20-ros
    User pokusew
    # no need to define IP address here
    # as ubuntu20-ros is defined in /etc/hosts
    # BUT when there is no internet access ubuntu20-ros in /etc/hosts does not work for ssh
    HostName 192.168.182.136
    AddKeysToAgent yes
    UseKeychain yes
    IdentityFile ~/.ssh/ubuntu20_ros_rsa
    # DISPLAY=:0 is for running GUI on the remote display
    # for mutplie env vars use
    # SetEnv ENV1=val1 ENV2=val2 ENV3=val3 ...
    SetEnv DISPLAY=:0 POWERLINE_UPDATE_TERMINAL_CWD=1
  2. generate a new SSH key 
    ssh-keygen -t rsa -b 4096 -C "pokusew@ubuntu20-ros"
  3. transfer the key to the remote machine (will prompt for the login password) 
    ssh-copy-id -i ~/.ssh/ubuntu20_ros_rsa.pub ubuntu20-ros

Install HSTR

HSTR is great replacement for standard Bash Ctrl-R reverse search feature.

Install via apt:

sudo add-apt-repository ppa:ultradvorka/ppa
sudo apt update
sudo apt install hstr

No-need for configuration now. It will be done in the next step. Read below.

Install ROS 2

Follow https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html

Copy my custom scripts and configs

It copies and configures:

  • rh.sh – a simple helper to make working with ROS easier
  • (TODO: fix add link once published) pokusew-bash-powerline.sh
  • ~/.bashrc (fully setup ROS, rh, HSTR and more)
  • ~/.tmux.conf
  • /etc/ssh/sshd_config (only when upload.sh --all option is used, see below)
  • see contents of upload.sh script for more info

Run in the root of this project (ros-setup) on your local machine:

./scripts/upload.sh v20 ubuntu20-ros --all

You will be prompted to enter your sudo password on the remote machine (only if using --all option that attempts to change /etc/ssh/sshd_config).

Then, restart SSH service on the remote machine (so the /etc/ssh/sshd_config takes effect):

ssh ubuntu20-ros "sudo -S systemctl restart ssh"