ROS 2 Upgrade#

This section covers the steps on how to upgrade a robot from ROS 1 to ROS 2. The upgrade process is done by installing the ISO of ROS 2 provided by PAL Robotics.

Note

The upgrade from ROS 1 to ROS 2 will erase all data from the robot. Make sure to backup any important data before proceeding.

Requirements#

USB pen drive (see flash-iso for details on how to create a bootable USB stick with the provided ISO image)
Keyboard
Monitor (optional)

To begin the installation process, plug a USB keyboard onto the robot service panel. On robots without screen, plug as well an external monitor into the HDMI connector.

BIOS configuration#

First enter the UEFI BIOS settings and disable secure boot. To do this follow the steps below:

Turn on the robot and press F2 (or F11, depending on your robot model) repeatedly. Wait until the BIOS menu appears;
Enter Advanced Mode by pressing F7;
In the Advanced > Boot menu;
- Scroll down and select the Secure Boot menu;
- Set OS Type to Other OS;
Go to Exit and select Save Changes & Reset;

Installation#

Once both the BIOS is configured and a bootable USB with the ISO has been created, follow the steps below in iso_installation to install the ROS 2 ISO on the robot.

Once the installation is complete restart the robot.