92 lines
2.6 KiB
Markdown
92 lines
2.6 KiB
Markdown
# Framework Installation Guide
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**Important!** Compatible only with Ubuntu 22.04.
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Below are the steps to set up the framework.
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---
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## Step 1: Install ROS2 Humble
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Start by installing [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html).
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A minimal installation of `ros-humble-ros-base` is recommended, along with the `ros-dev-tools` package.
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---
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## Step 2: Initialize `rosdep` (if not done already)
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Run the following commands:
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```sh
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sudo rosdep init
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rosdep update
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```
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---
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## Step 3: Verify ROS2 Environment
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Before continuing, ensure that the ROS2 environment is activated. Run:
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```sh
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source /opt/ros/humble/setup.bash
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```
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---
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## Step 4: Framework Installation
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```sh
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cd
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mkdir -p robossembler-ws/src && cd robossembler-ws/src
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git clone --recurse-submodules https://gitlab.com/robossembler/robossembler-ros2.git
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```
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Next, 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).
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Alternatively, you can use [`vsctool`](https://github.com/dirk-thomas/vcstool), which is included in the basic ROS2 packages.
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If you choose to use `vcstool`, the necessary packages will be cloned into the same workspace as the framework. Use this command:
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```sh
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vcs import . < robossembler-ros2/repos/all-deps.repos
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```
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You can also install all required Python libraries by running:
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```shell
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pip install -r robossembler-ros2/repos/requirements.txt
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# If you encounter an error while installing Shapely:
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sudo apt install libgeos-dev
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```
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> **[!IMPORTANT]**
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> Ensure that `git lfs` is installed. The `requirements.txt` file includes the `rbs_assets_library` module, which contains large files and is installed as a Python module.
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Run these commands in the `robossembler-ws/src/` directory.
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Install dependencies using `rosdep`:
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```sh
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cd ~/robossembler-ws
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rosdep install --from-paths src -y --ignore-src --rosdistro ${ROS_DISTRO}
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```
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Build the framework using `colcon`:
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```sh
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colcon build
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```
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---
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## Full Command Sequence
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Below is the full set of commands to set up the framework:
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```sh
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cd
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mkdir -p robossembler-ws/src && cd robossembler-ws/src
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git clone --recurse-submodules https://gitlab.com/robossembler/robossembler-ros2.git
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# Or, if you prefer Radicle:
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git clone --recurse-submodules https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2
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rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip
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vcs import . < robossembler-ros2/repos/all-deps.repos
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pip install -r robossembler-ros2/repos/requirements.txt
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cd ..
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rosdep install --from-paths src -y --ignore-src --rosdistro ${ROS_DISTRO}
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colcon build
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```
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