JSDaleman's ROS, MQTT, Gazebo, RViz 'starter kit' for EV3 drive base

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@JSDaleman created a very nice ROS, MQTT, Gazebo, RViz with EV3 starter package for the EV3 "Drive base with gyro" briefly mentioned in this post.

Merits being added to https://www.ev3dev.org/projects/

I used google chrome to translate the github pages describing the setup:

https://github.com/JSDaleman/ev3dev_ROS
https://github.com/JSDaleman/ev3_mqtt_ros

I encountered a number of issues while setting up the WSL2 Ubuntu 20.04, so below are the streamlined steps that actually worked for me.

Configure a free hivemq account:

https://github.com/JSDaleman/ev3_mqtt_ros#-creaci%C3%B3n-de-broker-y-configuraci%C3%B3n
https://console.hivemq.cloud/

EV3 booted with ev3dev:
sudo apt install python3-paho-mqtt

Windows 11 PC:

Ubuntu 20.04 uses Python 3.8.10

wsl --install Ubuntu-20.04

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt update
sudo apt upgrade

sudo apt install gedit
sudo apt install nautilus

sudo apt install python3-pip
sudo apt install python3-venv
python3 -m pip install --upgrade pip

python3 -m pip install PyQt5
python3 -m pip install paho-mqtt
python3 -m pip install --upgrade paho-mqtt
python3 -m pip install catkin_tools
python3 -m pip install catkin_pkg
python3 -m pip install empy

sudo apt install ros-noetic-desktop-full #https://wiki.ros.org/noetic/Installation/Ubuntu
sudo apt install python3-catkin-tools
sudo apt install python3-rospkg
sudo apt install python3-roslaunch
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update
catkin config --extend /opt/ros/noetic

mkdir -p ev3ros/src

cd ev3ros
git clone https://github.com/JSDaleman/ev3_mqtt_ros

cd ev3ros/src
git clone https://github.com/JSDaleman/ev3dev_ROS.git

cd ..
:~/ev3ros$ catkin init

nano ~/.bashrc
Add the following two lines to the end of you .bashrc:

source ~/ev3ros/devel/setup.bash

export PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages

source ~/.bashrc

Change MQTT broker address to your hivemq URL in these three .py scripts:

ev3ros/src/ev3dev_ROS/mqtt/src/mqtt/mqtt_remote_method_calls.py
def __init__(self, delegate=None, id=1, mqtt_broker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

ev3ros/src/ev3dev_ROS/mqtt/scripts/mqtt_messenger.py
def __init__(self, delegate=None, id=1, mqtt_borker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

ev3ros/ev3_mqtt_ros/Scripts/Robot/mqtt_remote_method_calls.py
def __init__(self, delegate=None, id=1, mqtt_broker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

:~/ev3ros$ catkin build

Copy the files from ev3_mqtt_ros/Scripts/Robot over to the EV3 (I used ev3dev extension in VScode):
https://github.com/JSDaleman/ev3_mqtt_ros?tab=readme-ov-file#-carga-de-archivos-al-robot

In the terminals of the demo video you can see the following launch commands:

https://youtu.be/NIEbXVXS-eo?si=NYXHjLuXi48-MR_O&t=13

Run on the PC:
:~/ev3ros$ roslaunch ev3_launch_pkg ev3_teleop.launch

or

:~/ev3ros$ roslaunch ev3_launch_pkg ev3_teleop_simulate.launch

Run on the EV3: (I use Ev3dev extension in VScode to run in interactive terminal)

ev3_MQTT.py