Setting ROS environment every time is an annoying job. ADLINK provides Neuron Startup Menu to make your life easier.

Neuron Startup Menu offers these features:

1. Install ROS 1, ROS2, and Cyclone DDS for you automatically.

   

2. Prompt ROS menu whenever you opening a new terminal.

   

• Ubuntu 18.04
  • ROS 1 melodic / ROS 2 dashing
• Ubuntu 20.04
  • ROS 1 noetic / ROS 2 foxy
• Ubuntu 22.04
  • ROS 2 humble

• Get Git tools if you haven't installed yet

sudo apt update
sudo apt install -y git curl

• There are two ways to install: install in native host / container

  • native host:

    sh -c "$(curl -fsSL https://raw.githubusercontent.com/Adlink-ROS/ros_menu/master/scripts/setup.sh)"

  • container

    # Add docker privilege to current user
    sudo apt install docker.io
    sudo groupadd docker
    sudo gpasswd -a $USER docker
    reboot
    # After reboot
    sh -c "MENU_CONFIG=ros_menu_20.04_container.yaml USE_CONTAINER=True $(curl -fsSL https://raw.githubusercontent.com/Adlink-ROS/ros_menu/main/scripts/setup.sh)"

• (Optional) you can add variables while downloading ros_menu.

# Select which version you want.
sh -c "MENU_VERSION=<Your Version> $(curl -fsSL https://raw.githubusercontent.com/Adlink-ROS/ros_menu/main/scripts/setup.sh)"
# Select which config you want.
sh -c "MENU_CONFIG=<Config Name> $(curl -fsSL https://raw.githubusercontent.com/Adlink-ROS/ros_menu/main/scripts/setup.sh)"

• While you open a new terminal, it'll show the following menu.

************ Neuron Startup Menu for ROS *************
* Usage: Please select the following options to load *
*        ROS environment automatically.              *
******************************************************
0) Do nothing
1) ROS 1 noetic 
2) ROS 2 foxy 
3) ROS2/ROS1_bridge 
h) Help
Please choose an option:

• Here is what the menu does for us:

  • Do nothing:
    • Does not setup any environment.
  • ROS noetic:
    • Sets up the ROS 1 environment.
    • Sets the ROS_IP and ROS_MASTER_URI, which is your host IP.
  • ROS 2 foxy:
    • Sets up the ROS 2 environment.
    • Loads DDS settings and select the DDS you want to use.
  • ROS2/ROS1_bridge:
    • Sets up the ROS Bridge environment.
    • Runs ROS Bridge automatically.
  • Help:
    • Show using details of the ROS menu.
    • You can type h or H or help when choosing the option

You can configure the menu easily by modify ~/ros_menu/config.yaml. The following are the options you can control.

• Enable menu:
  • menu_enable: "true" to enable the menu, “false” or otherwise do nothing.
• ROS option:
  • ros_option: “menu” to show the whole menu, or any option_num you set to choose the option automatically.
• ROS domian id:
  • default_ros_domain_id: set if you want to have the same domain ID for every ROS 2 version, otherwise the domain ID will be set to 30.
• Here are some parameters you need to set if you want to create a new option for your menu:
  • ROS 1:
    • option_num: give the option name to this option, avoid using specific characters(e.g:help,H,h,0) or duplicate option name
    • ROS_version: 1
    • distro_name: the name of the ROS 1 you are using.
    • ros1_path: the path where the ROS 1 is.
    • master_ip: set the IP address of the master if master isn't on current computer.
    • container: if the option is set, then ros_menu will run container for ROS environment.
    • cmds: source your ROS 1 workspace here.
  • ROS 2:
    • option_num: give the option name to this option, avoid using specific characters(e.g:help,H,h,0) or duplicate option name
    • ROS_version: 2
    • distro_name: the name of the ROS 2 you are using.
    • ros2_path: the path where the ROS 2 is.
    • domain_id: set the Domain ID for DDS communication. Keep empty to use $default_ros_domain_id(30)
    • container: if the option is set, then ros_menu will run container for ROS environment.
    • cmds: source your ROS 2 workspace here. Remarks: source_plugin dds_bashrc is necessary every time using ROS 2
  • ROS2/ROS1_bridge:
    • option_num: give the option name to this option, avoid using specific characters(e.g:help,H,h,0) or duplicate option name
    • ROS_version: bridge
    • ros1_version_name: the name of the ROS 1 you are using.
    • ros2_version_name: the name of the ROS 2 you are using.
    • ros1_path: the path where the ROS 1 is.
    • ros2_path: the path where the ROS 2 is.
    • master_ip: set the IP address of the master if master isn't on current computer.
    • domain_id: set the Domain ID for DDS communication. Keep empty to use $default_ros_domain_id(30)
    • container: if the option is set, then ros_menu will run container for ROS environment.
    • cmds: any command you want to run every time using ROS bridge. Remarks: source_plugin dds_bashrc and ros2 run ros1_bridge dynamic_bridge --bridge-all-topics is necessary every time using ROS bridge

• It's very easy to upgrade the menu by typing ros_menu_upgrade.
• Optional: You can also select which version you want.

ros_menu_upgrade <version>

• Next time you open the terminal, it'll be new version.

• You could disable/enable the ros_menu by typing ros_menu_disable / ros_menu_enable

#Disable ros_menu
ros_menu_disable 
#Enable ros_menu
ros_menu_enable

• If you don't want the ros_menu anymore, you can just type ros_menu_uninstall.
• Also remember to remove source ~/.ros_bashrc in your ~/.bashrc.

If you find any problems or have any suggestions, feel free to open issues on GitHub.

Issue URL: https://github.com/Adlink-ROS/ros_menu/issues