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Install with ROS

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Yunlong edited this page Aug 31, 2020 · 12 revisions

Get ROS

This framework is based on the Robot Operating System (ROS) and you therefore first need to install it (Desktop-Full Install) by following the steps described in the ROS Installation.

Get catkin tools

Get catkin tools with the following commands:

sudo apt-get install python-pip
sudo pip install catkin-tools

Create a catkin workspace

Create a catkin workspace with the following commands by replacing <ROS VERSION> with the actual version of ROS you installed:

cd
mkdir -p catkin_ws/src
cd catkin_ws
catkin config --init --mkdirs --extend /opt/ros/$ROS_DISTRO --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

Set up SSH keys

We strongly recommend to set up ssh keys with github to simplify your workflow. You can do so by following the instructions on how to set up an ssh key.

Install Dependencies

Gazebo

To install Gazebo checkout out their documentation

Or in short

  • ROS Melodic and newer: use Gazebo version 9.x sudo apt-get install gazebo9
  • ROS Kinetic and newer: use Gazebo version 7.x sudo apt-get install gazebo7
  • ROS Indigo: use Gazebo version 2.x sudo apt-get install gazebo2
ROS Dependencies

Install system and ROS dependencies:

sudo apt-get install libgoogle-glog-dev protobuf-compiler ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-joy
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