installation_tutorial

Installation

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. Open a terminal and source your ROS 2 installation.

   source /opt/ros/humble/setup.bash
   

2. 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
   

3. Clone the ros_gz repository and check out the humble branch

   cd ~/vrx_ws/src
   git clone https://github.com/gazebosim/ros_gz.git -b humble
   

4. 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.

5. Install dependencies

   sudo apt install python3-sdformat13
   

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 helpful.

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