Install Instructions (ROS2 Jazzy)

This install process follows the instruction on docs.ros.org

In bin directory, severals scripts allow for automatic installs :

[install-ros] : Minimal configuration and install of ros.
[install-station] : To install a classic Mobi-Syst develloper configuration.

Install in short

# Prepare for ROS2 :
sudo apt install -y curl software-properties-common
sudo add-apt-repository universe -y

# Configure apt :
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

# A final tool:
sudo apt update
sudo apt install -y ros-dev-tools

Then install (use one of the options):

sudo apt install -y ros-jazzy-ros-base # for minimal install
sudo apt install -y ros-jazzy-desktop  # for developers install (include visualtization etc.)
sudo apt install -y ros-jazzy-desktop-full # for not missing anything

Configure your environment

sudo usermod -a -G dialout `whoami`

You can setup your terminal with ROS2 environment:

source /opt/ros/iron/setup.bash

Hello-World with ROS2

This workspace include a default simple ROS package draft-mb6 into pkg-draft directory. You can build it with colcon build, then, inform your environment of the existance of new ROS resources source ./install/setup.bash.

In fact, the run-commands.bash would also do the job (source ./install/setup.bash). You can make your own run-commands.bash and automitically source this on your terminal...

echo "

# mb6 ROS environment:
source ~/mb6-space/bin/run-commands.bash" >> ~/.bashrc

(optional) you can add a domain-id to allow several ROS2 virtual networks to work on a same phisical network (doc)

export ROS_DOMAIN_ID=42

Push the source and export commands on your bashrc file.

Finally launch a talker and a listerner in two terminals ros2 run draft_mb6 py_listerner and ros2 run draft_mb6 cpp_talker.

For going further follow the draft tutorirals:

Hokuyo Laser Range

Just use the urg_node form the ROS urg_node package. It requires that the linux user is in dialout group.

sudo apt install -y ros-iron-urg-node
sudo usermod -a -G dialout `whoami`

RealSense

Use the vcpkg tool as recommended.

cd 
git clone https://github.com/Microsoft/vcpkg.git .vcpkg
~/.vcpkg/bootstrap-vcpkg.sh
~/.vcpkg/vcpkg install realsense2
pip install pyrealsense2

You can connect the camera and test with ./bin/test-realsense-cam.py script.

Gazebo Simulation

ROS compliant version of gazebo can be installed from ros-iron-gazebo-xxx packeges. The install-gazebo script provide the list of usefull packages.

IMT-Mobisyst packages

Your mb6-space workspace is now ready to welcome robotic packages. Depending of your need, you can install and build the relevant mb6's packages...