installation_tutorial

Installing VRX

Prerequisite

• 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

Installation from Source

1. 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
   
   

1. Install additional dependencies:
    ```
    sudo apt install python3-sdformat13 ros-humble-ros-gzgarden xacro
    ```

1. Source your ROS 2 installation.

source /opt/ros/humble/setup.bash

1. 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
 ```

1. Build the workspace

 ```
 cd ~/vrx_ws
 GZ_VERSION=garden colcon build --merge-install
 ```

 Note: Make sure to set the `GZ_VERSION` to `garden`. This is needed for building the `ros_gz` package.


### Setting up your environment
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](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html) helpful.

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