# Framework Installation Guide

Important! Install only with Ubuntu 22.04 operating system

First, you need to install [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html). A minimal installation is recommended with `ros-dev-tools`.

As the second step, you need to build [`ros2_control`](https://github.com/ros-controls/ros2_control) from source using this [fork](https://github.com/solid-sinusoid/ros2_control/tree/gz-ros2-cartesian-controllers). Alternatively, you can use the [`vcstool`](https://github.com/dirk-thomas/vcstool) method, which is included with the basic ROS2 packages.

If using `vcstool`, the required packages will be cloned into the same workspace as the framework. The command would look like this:
```sh
vcs import . < robossembler-ros2/repos/all-deps.repos
```

Additionally, you can run the following command to install all required Python libraries:
```shell
pip install -r robossembler-ros2/repos/requirements.txt
```

> [!IMPORTANT]  
> Note that to run the above command, you need to install `git lfs` since the `requirements.txt` file includes the `rbs_assets_library` module, which contains large files but is installed as a Python module.

Make sure to execute this command in the `{robossembler_ws}/src/` directory.

For those who prefer a concise sequence of commands, here it is:
```sh
cd 
mkdir -p robossembler-ros2/src && cd robossembler-ros2/src
git clone https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2
# Or if you prefer Radicle:
rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip
# Or if you prefer Gitlab
git clone https://gitlab.com/robossembler/robossembler-ros2.git
vcs import . < robossembler-ros2/repos/all-deps.repos
pip install -r robossembler-ros2/repos/requirements.txt
cd ..
rosdep install --from-paths src -y --ignore-src
colcon build --symlink-install
```