Having ROS on your host machine has many advantages. First of all, it allows you to communicate with nodes running on your Rover, so it is easier to introspect ROS network. Also, it lets you run nodes on your computer, so you can launch part of the node network in your host machine such as graphical interfaces and visualization tools.
There is a couple of ROS installation options depending on your system:
If you have Linux distribution installed (either natively or on virtual machine) you can follow instructions on ROS wiki.
ROS repository contains prebuild packages for ubuntu and debian systems. Kinetic distribution is available for Ubuntu Xenial (16.04 LTS) and Debian Jessie. Melodic requires Ubuntu Bionic (18.04 LTS) or Debian Stretch.
Windows Subsystem for Linux feature is enabled by opening
PowerShell as Administrator and running:
Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Windows-Subsystem-Linux
Reboot when prompted
Install Ubuntu 16.04 from Microsoft Store and open the application.
You can now follow steps from ros installation tutorial on ROS wiki.
To run graphical applications, you need to install X server on Windows. We recommend using VcXsrv. Install it and run with default configuration except for
Native OpenGL which should be unchecked (otherwise,
rviz may fail to launch)
In your ubuntu session, type:
echo "export DISPLAY=:0" >> ~/.bashrcsource ~/.bashrc
Now, to test it, run
roscore on one session and
rviz on another.
We prepared a bootable image with Ubuntu 16.04 and ROS preinstalled. It supports 64-bit architecture and both UEFI and Legacy boot. The image can be found here.
You will need an USB drive with at least 8GB storage capacity. To flash the image you can follow the same instructions as when flashing Rover image to SD card:
Now boot your computer from USB drive. Choose the first option in
GRUB menu. User should be automatically logged and desktop environment should appear.
Open terminal (
Ctrl+Shift+t shortcut) and type:
When asked for password, type
ubuntu. This script will extend your root partition to fill the whole drive.