38 lines
1.8 KiB
Markdown
38 lines
1.8 KiB
Markdown
# 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.
|
|
|
|
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
|
|
```
|