runtime/docs/en/installation.md

Framework Installation Guide

Important! Compatible only with Ubuntu 22.04.

Below are the steps to set up the framework.

---

Step 1: Install ROS2 Humble

Start by installing ROS2 Humble.
A minimal installation of ros-humble-ros-base is recommended, along with the ros-dev-tools package.

---

Step 2: Initialize rosdep (if not done already)

Run the following commands:

sudo rosdep init
rosdep update

---

Step 3: Verify ROS2 Environment

Before continuing, ensure that the ROS2 environment is activated. Run:

source /opt/ros/humble/setup.bash

---

Step 4: Framework Installation

cd 
mkdir -p robossembler-ws/src && cd robossembler-ws/src
git clone --recurse-submodules https://gitlab.com/robossembler/robossembler-ros2.git

Next, build ros2_control from source using this fork.
Alternatively, you can use vsctool, which is included in the basic ROS2 packages.

If you choose to use vcstool, the necessary packages will be cloned into the same workspace as the framework. Use this command:

vcs import . < robossembler-ros2/repos/all-deps.repos

You can also install all required Python libraries by running:

pip install -r robossembler-ros2/repos/requirements.txt
# If you encounter an error while installing Shapely:
sudo apt install libgeos-dev

[!IMPORTANT]
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.

Run these commands in the robossembler-ws/src/ directory.

Install dependencies using rosdep:

cd ~/robossembler-ws
rosdep install --from-paths src -y --ignore-src --rosdistro ${ROS_DISTRO}

Build the framework using colcon:

colcon build

---

Full Command Sequence

Below is the full set of commands to set up the framework:

cd 
mkdir -p robossembler-ws/src && cd robossembler-ws/src
git clone --recurse-submodules https://gitlab.com/robossembler/robossembler-ros2.git
# Or, if you prefer Radicle:
git clone --recurse-submodules https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2
rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip

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 --rosdistro ${ROS_DISTRO}
colcon build