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INSTALL_GUIDE.md

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Installation guide

This guide is a detailed step by step instruction to install the ROS2swarm package on top of a Ubuntu 20.04 OS for the use with

  • the TurtleBot 3
  • the Jackal UGV or
  • the Thymio II or
  • the AgileX Limo.

It is based on the guide to set up a turtlebot3 development environment and uses the manual install of

Prerequirements

This guide expects that the OS Ubuntu Bionic 20.04 is already installed.

Install ROS 2 Foxy

Install ROS 2 desktop version following:

https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

sudo apt update && sudo apt install curl gnupg2 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:https://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 ROS 2 packages

sudo apt update
sudo apt install ros-foxy-desktop
echo 'source /opt/ros/foxy/setup.bash' >> ~/.bashrc

Install argcomplete (optional)

sudo apt install -y python3-pip
pip3 install -U argcomplete

Test if installation were successful new Terminal

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

Install Dependent ROS 2 Packages, including gazebo

Install colcon

sudo apt install python3-colcon-common-extensions

Install Gazebo

sudo apt install ros-foxy-gazebo-ros-pkgs

Install Cartographer

sudo apt install ros-foxy-cartographer
sudo apt install ros-foxy-cartographer-ros

Install Navigation2

sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup

Installation of TurtleBot3 Support

Install TurtleBot3 Packages

TurtleBot3 packages with source code:

mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src/
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
sudo apt install ros-foxy-dynamixel-sdk
cd ~/turtlebot3_ws && colcon build --symlink-install

Environment Configuration

echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

Install turtlebot3_simulation package

cd ~/turtlebot3_ws/src/
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

Set the gazebo model path

echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc

build turtlebot3 packages

cd ~/turtlebot3_ws && colcon build --symlink-install
echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
source ~/.bashrc

Test if example simulation works

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Installation of Thymio II Support

install ROS for Aseba and Thymio II following this installation guide.

Installation of the ROS2swarm package

place the project folder in your home directory (also required for using the scripts)

git clone [email protected]:ROS2swarm/ROS2swarm.git
cd ~/ROS2swarm
colcon build --symlink-install
echo 'source ~/ROS2swarm/install/setup.bash' >> ~/.bashrc

Test if ROS2swarm package starts a simulation

source ~/.bashrc
bash ~/ROS2swarm/restart.sh

Additional installation based on template

install PyCharm as IDE

sudo snap install pycharm-educational --classic

introduce ROS to PyCharm

sudo nano /var/lib/snapd/desktop/applications/pycharm-educational_pycharm-educational.desktop

replace /snap/bin/pycharm-educational with commands in Exec line

bash -i -c "/snap/bin/pycharm-educational"

or if that turns out not to work revert changes and start IDE from console with sourced ROS2 using

snap run pycharm-educational

choose python3.7 as default (only in older template required)

sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.7 3

install pip

sudo apt install python-pip

install upgrade pip

pip install --upgrade pip

install open_cv

pip install opencv-python