Manual Installation

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

In short :

sudo apt install -y curl software-properties-common
sudo add-apt-repository universe -y
sudo curl -sSL https://raw.githubusercontent.com/ros/ROS_DISTRO/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update
sudo apt install -y ros-dev-tools # ament-cmake-python

Then install (use one of the options):

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

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:

• ROS2 introduction
• package create
• python node
• cpp node

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.

More on Gazebo-Ros: docs.ros.org

The IMT-MobiSyst simulated Robot is configured on a specific repo: git clone https://github.com/imt-mobisyst/pkg-tsim

source ./bin/run-commands.bash
./bin/install-gazebo
git clone https://github.com/imt-mobisyst/pkg-tsim
colcon build

Cuda

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...