ROS Intro Tutorial

For developers new to ROS. Based on Ubuntu 22.04 + ROS 2 Humble, with hands-on examples using Juxi Technology IMU module and SO-ARM101 arm.

1. What is ROS?

ROS (Robot Operating System) is the de-facto middleware standard for robotics:

• Topics: publish/subscribe, point-to-point comms (e.g., IMU data streams)
• Services: request/response (e.g., trigger an action)
• Launch: one-command multi-node startup

ROS 2 (Humble) is the current mainstream version with real-time, multi-machine, and security improvements.

2. Environment Setup

Ubuntu 22.04 + ROS 2 Humble

# Add ROS 2 repository
sudo apt update && sudo apt install -y curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
  -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | \
  sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Install
sudo apt update
sudo apt install -y ros-humble-desktop

# Source environment (each new terminal, or add to ~/.bashrc)
source /opt/ros/humble/setup.bash

Verify Installation

# Terminal 1
ros2 run demo_nodes_cpp talker

# Terminal 2
ros2 run demo_nodes_py listener

Seeing Hello World: N looping means success.

3. Core Concepts

Concept	Description	Example
Node	Independent process	IMU node, robot arm node
Topic	Publish/subscribe data stream	/imu/data attitude
Message	Topic data type	sensor_msgs/Imu
Service	Request/response	Trigger servo reset
Launch file	Multi-node startup orchestration	imu_launch.py

4. Hands-on with Juxi Products

IMU Module (ROS 2)

git clone https://github.com/Juxi-Technology/ICM42670P-High-Precision-IMU-Module.git
cd ICM42670P-High-Precision-IMU-Module
colcon build
source install/setup.bash

ros2 launch icm42670p imu_launch.py

# View data
ros2 topic echo /imu/data

• IMU ROS2 Tutorial
• IMU ROS1 Tutorial

KWS Module (RViz2)

• KWS ROS2 RViz2 Visualization

5. Command Cheatsheet

ros2 node list                 # List nodes
ros2 topic list                # List topics
ros2 topic echo /topic         # View topic data
ros2 service list              # List services
ros2 launch pkg file.launch.py # Launch

FAQ

Q: source /opt/ros/humble/setup.bash errors?

A: Verify your installed version and path; on Jetson, activate conda first if used.

Q: Port permission errors?

A: sudo chmod 666 /dev/ttyACM*.

Q: Using Jetson?

A: Watch PyTorch compatibility — see Jetson PyTorch Compatibility.

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Support

• 📧 Email: support@juxitech.com
• 🌐 Website: www.juxitech.com
• 💬 Report Issues