Add Ubuntu 18.04 support

[jviereck]

The current main install script is using Ubuntu 16.04. This issue is about adding support for Ubuntu 18.04.

At the point of writing the idea is to try out ROS2 and support only python3.

[jviereck]

Update (@avadesh02 work, not mine):

• Basic Ubuntu 18.04 script is there
• Pinocchio + TSID + Gepetto work with python3

Todo:

• Merge script from 1 in the official image (and convert shell to docker files)
• Use Ros2
• Run software from the lab to verify installation
• Other open todos

[avadesh02]

Update :

• Managed to install ros2 on my machine (no errors during installation). The temporary bash file for the same is available here: https://github.com/avadesh02/install_bash/blob/master/install_ros2.sh

I am not sure how to check if ros2 is installed properly (couldn't find any quick examples and roscore does not exist anymore). I don't know much about ros to dig into this and figure things out quickly. I will be grateful if someone else who knows ros well can look into this (@jviereck @MaximilienNaveau @vincentberenz) will look into this.

• Based on what I read, ros2 is under heavy development and there seems to be several issues with it as of now. Also, for some of the functionalities that we may need we will have to depend on melodic and use ros1 bridge as these packages have not been migrated to ros2 yet.

[skleff1994]

This script installs ROS 2 from source (tested successfully on my machine) :
install-ros2.txt

[MaximilienNaveau]

Update:

Managed to install ROS2 on Ubuntu16.04:
- The unit-tests fails but their simple subscriber/publisher works
- I need to dig into the services as the implementation of the examples from the installation does NOT seem to work...

[jviereck]

For testing ros2 installation:

• does catkin_make work?
• does rviz work?

Plan to work on rtpreempt script during this week and verify on at least BLMC robot (better kuka).

[jviereck]

There is a basic Ubuntu 18.04 docker file on this branch:

https://github.com/machines-in-motion/ubuntu_installation_scripts/blob/18.04/official/ubuntu_18_04/docker/Dockerfile#L438

[MaximilienNaveau]

Ubuntu18.04 + RT_PREEMPT patch are available on master.

[MaximilienNaveau]

I will investigate ROS2 a bit more in the following weeks as it would seem that even with my upgrade of dynamic_graph_manager to use python3, ROS (using python2) creates a mess in the environment variables...