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installation_tutorial
M1chaelM edited this page Jun 7, 2023
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- Platform: Ubuntu 22.04 (Jammy)
- Gazebo Garden
- ROS 2 Humble
See Installation instructions for:
- Gazebo Garden: https://gazebosim.org/docs/garden/install
- ROS 2 Humble: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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Install the Gazebo prerelease repository (for
ros_gz
binaries):sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list' wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt update
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Install additional dependencies:
sudo apt install python3-sdformat13 ros-humble-ros-gzgarden xacro
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Source your ROS 2 installation.
source /opt/ros/humble/setup.bash
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Create a colcon workspace and clone the vrx repository
mkdir -p ~/vrx_ws/src cd ~/vrx_ws/src git clone https://github.com/osrf/vrx.git
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Build the workspace
cd ~/vrx_ws GZ_VERSION=garden colcon build --merge-install
Note: Make sure to set the
GZ_VERSION
togarden
. This is needed for building theros_gz
package.
Now that you've built your environment, you will need to source the setup script before you can do anything with it. From the root of your workspace, run:
. install/setup.bash
Note that, in general, you always need to perform this step when working with ROS and ROS 2 workspaces. Forgetting to source the environment is one of the most common mistakes among new users. If you're new to ROS 2 workspaces, you may find this tutorial helpful.
Back: Sequence Overview | Top: VRX Tutorials | Next: Running VRX |
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