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use ROS_DISTRO env value instead of <ros2-distro>. #863

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SteveMacenski merged 2 commits into from
Feb 9, 2026
Merged

use ROS_DISTRO env value instead of <ros2-distro>. #863

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664cc5e
use ROS_DISTRO env value instead of <ros2-distro>.
fujitatomoya Feb 8, 2026
35f22eb
make sure to source ROS 2 workspace setup script.
fujitatomoya Feb 9, 2026
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20 changes: 13 additions & 7 deletions getting_started/index.rst
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Expand Up @@ -24,27 +24,33 @@ Jazzy introduced the new Gazebo modern simulator, replacing Gazebo Classic.
Thus, for Jazzy and newer, the installation packages and instructions are slightly different to pull in the appropriate packages.

1. Install the `ROS 2 binary packages <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_ as described in the official docs
2. Install the |PN| packages using your operating system's package manager:
2. Source your ROS 2 installation to set up the environment:

.. code-block:: bash

sudo apt install ros-<ros2-distro>-navigation2
sudo apt install ros-<ros2-distro>-nav2-bringup
source /opt/ros/<ros2-distro>/setup.bash

3. Install the |PN| packages using your operating system's package manager:

.. code-block:: bash

sudo apt install ros-$ROS_DISTRO-navigation2
sudo apt install ros-$ROS_DISTRO-nav2-bringup

3. Install the demo robot (Turtlebot) for gazebo:
4. Install the demo robot (Turtlebot) for gazebo:

For **Jazzy and newer**, install the Turtlebot 3 & 4 packages for Gazebo Modern. It should be automatically installed with ``nav2_bringup``:

.. code-block:: bash

sudo apt install ros-<ros2-distro>-nav2-minimal-tb*
sudo apt install ros-$ROS_DISTRO-nav2-minimal-tb*


For **Iron and older**, install Turtlebot 3 packages for gazebo classic:

.. code-block:: bash

sudo apt install ros-<ros2-distro>-turtlebot3-gazebo
sudo apt install ros-$ROS_DISTRO-turtlebot3-gazebo

Running the Example
*******************
Expand All @@ -56,7 +62,7 @@ Running the Example

source /opt/ros/<ros2-distro>/setup.bash
export TURTLEBOT3_MODEL=waffle # Iron and older only with Gazebo Classic
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models # Iron and older only with Gazebo Classic
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models # Iron and older only with Gazebo Classic

3. In the same terminal, run:

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2 changes: 1 addition & 1 deletion setup_guides/odom/setup_odom_gz.rst
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Expand Up @@ -81,7 +81,7 @@ Setup and Prerequisites

.. code-block:: shell

sudo apt install ros-<ros2-distro>-ros-gz
sudo apt install ros-$ROS_DISTRO-ros-gz
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@SteveMacenski SteveMacenski Feb 8, 2026

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Has opt ros been sourced yet in this tutorial's terminal?

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@fujitatomoya fujitatomoya Feb 9, 2026

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yeah that is true, that should be done in the 1st place.


Adding Gazebo Plugins to a URDF/SDF
===================================
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2 changes: 1 addition & 1 deletion setup_guides/odom/setup_odom_gz_classic.rst
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Expand Up @@ -81,7 +81,7 @@ We also need to install the ``gazebo_ros_pkgs`` package to simulate odometry and

.. code-block:: shell

sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs
sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
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You can test if you have successfully set up your ROS 2 and Gazebo environments by following the instructions `given here <http://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#TestingGazeboandROS2integration>`_.

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2 changes: 1 addition & 1 deletion setup_guides/odom/setup_robot_localization.rst
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Expand Up @@ -29,7 +29,7 @@ First, install the ``robot_localization`` package using your machines package ma

.. code-block:: shell

sudo apt install ros-<ros2-distro>-robot-localization
sudo apt install ros-$ROS_DISTRO-robot-localization
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Next, we specify the parameters of the ``ekf_node`` using a YAML file. Create a directory named ``config`` at the root of your project and create a file named ``ekf.yaml``. Copy the following lines of code into your ``ekf.yaml`` file.

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2 changes: 1 addition & 1 deletion setup_guides/sdf/setup_sdf.rst
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Expand Up @@ -17,7 +17,7 @@ We can also use our SDF with the robot_state_publisher using the following packa

.. code-block:: shell

sudo apt install ros-<ros2-distro>-sdformat-urdf
sudo apt install ros-$ROS_DISTRO-sdformat-urdf
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This package contains a C++ library and urdf_parser_plugin for converting SDFormat XML into URDF C++ structures. Installing it allows one to use SDFormat XML instead of URDF XML as a robot description.

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6 changes: 3 additions & 3 deletions setup_guides/sensors/mapping_localization.rst
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Expand Up @@ -165,7 +165,7 @@ To be able to launch ``slam_toolbox``, make sure that you have installed the ``s

.. code-block:: shell

sudo apt install ros-<ros2-distro>-slam-toolbox
sudo apt install ros-$ROS_DISTRO-slam-toolbox

We will launch the ``async_slam_toolbox_node`` of ``slam_toolbox`` using the package's built-in launch files. Open a new terminal and then execute the following lines:

Expand Down Expand Up @@ -197,8 +197,8 @@ First, Make sure you have installed the Nav2 packages by executing the following

.. code-block:: shell

sudo apt install ros-<ros2-distro>-navigation2
sudo apt install ros-<ros2-distro>-nav2-bringup
sudo apt install ros-$ROS_DISTRO-navigation2
sudo apt install ros-$ROS_DISTRO-nav2-bringup

We will now launch Nav2 using the ``nav2_bringup``'s built-in launch file, ``navigation_launch.py`` . Open a new terminal and execute the following:

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4 changes: 2 additions & 2 deletions setup_guides/urdf/setup_urdf.rst
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Expand Up @@ -33,8 +33,8 @@ Let's begin by installing some additional ROS 2 packages that we will be using d

.. code-block:: shell

sudo apt install ros-<ros2-distro>-joint-state-publisher-gui
sudo apt install ros-<ros2-distro>-xacro
sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
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sudo apt install ros-$ROS_DISTRO-xacro

Next, create a directory for your project, initialize a ROS 2 workspace and give your robot a name. For ours, we'll be calling it ``sam_bot``.

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8 changes: 4 additions & 4 deletions tutorials/docs/camera_calibration.rst
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Expand Up @@ -18,16 +18,16 @@ Requirements

1- Install Camera Calibration Parser, Camera Info Manager and Launch Testing Ament Cmake using operating system’s package manager:

``sudo apt install ros-<ros2-distro>-camera-calibration-parsers``
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``sudo apt install ros-$ROS_DISTRO-camera-calibration-parsers``

``sudo apt install ros-<ros2-distro>-camera-info-manager``
``sudo apt install ros-$ROS_DISTRO-camera-info-manager``

``sudo apt install ros-<ros2-distro>-launch-testing-ament-cmake``
``sudo apt install ros-$ROS_DISTRO-launch-testing-ament-cmake``


2- Image Pipeline need to be built from source in your workspace with:

``git clone -b <ros2-distro> git@github.com:ros-perception/image_pipeline.git``
``git clone -b $ROS_DISTRO git@github.com:ros-perception/image_pipeline.git``


**Also, make sure you have the following:**
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2 changes: 1 addition & 1 deletion tutorials/docs/navigation2_on_real_turtlebot3.rst
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Expand Up @@ -34,7 +34,7 @@ The turtlebot3 software can be installed via the following or on the `turtlebot3

.. code-block:: bash

sudo apt install ros-<ros2-distro>-turtlebot3 ros-<ros2-distro>-turtlebot3-msgs ros-<ros2-distro>-turtlebot3-bringup
sudo apt install ros-$ROS_DISTRO-turtlebot3 ros-$ROS_DISTRO-turtlebot3-msgs ros-$ROS_DISTRO-turtlebot3-bringup
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Tutorial Steps
==============
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6 changes: 3 additions & 3 deletions tutorials/docs/navigation2_with_slam.rst
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Expand Up @@ -27,11 +27,11 @@ If you don't have them installed, please follow :ref:`getting_started`.

SLAM Toolbox can be installed via:

``sudo apt install ros-<ros2-distro>-slam-toolbox``
``sudo apt install ros-$ROS_DISTRO-slam-toolbox``
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or from built from source in your workspace with:

``git clone -b <ros2-distro>-devel git@github.com:stevemacenski/slam_toolbox.git``
``git clone -b $ROS_DISTRO-devel git@github.com:stevemacenski/slam_toolbox.git``


Tutorial Steps
Expand All @@ -45,7 +45,7 @@ The turtlebot3 software can be installed via the following or on the `turtlebot3

.. code-block:: bash

sudo apt install ros-<ros2-distro>-turtlebot3 ros-<ros2-distro>-turtlebot3-msgs ros-<ros2-distro>-turtlebot3-bringup
sudo apt install ros-$ROS_DISTRO-turtlebot3 ros-$ROS_DISTRO-turtlebot3-msgs ros-$ROS_DISTRO-turtlebot3-bringup

If you have another robot, replace with your robot specific interfaces.
Typically, this includes the robot state publisher of the URDF, simulated or physical robot interfaces, controllers, safety nodes, and the like.
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4 changes: 2 additions & 2 deletions tutorials/docs/navigation2_with_stvl.rst
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Expand Up @@ -59,11 +59,11 @@ Follow the same process as in :ref:`getting_started` for installing and setting

STVL can be installed in ROS 2 via the ROS Build Farm:

- ``sudo apt install ros-<ros2-distro>-spatio-temporal-voxel-layer``
- ``sudo apt install ros-$ROS_DISTRO-spatio-temporal-voxel-layer``
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It can also be built from source by cloning the repository into your Navigation2 workspace:

- ``git clone -b <ros2-distro>-devel git@github.com:stevemacenski/spatio_temporal_voxel_layer``
- ``git clone -b $ROS_DISTRO-devel git@github.com:stevemacenski/spatio_temporal_voxel_layer``

1- Modify Navigation2 Parameter
-------------------------------
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