Native Installation

Recommended file structure

~/arcturus
├── dev_ws
│   ├── build (auto-generated during build)
│   ├── install (auto-generated during build)
│   ├── log (auto-generated during build)
│   └── src
│       ├── all_seaing_vehicle
│       └── <other_packages>
└── vrx_ws
    ├── build (auto-generated during build)
    ├── install (auto-generated during build)
    ├── log (auto-generated during build)
    └── src
        └── vrx

1. Install ROS 2 Humble

Follow the instructions here to install ROS 2 humble.

2. Creating the file structure

Create the dev_ws workspace by running the following command:

mkdir -p ~/arcturus/dev_ws/src

Create the vrx_ws workspace by running the following command (NOTE: the VRX simulation environment currently does not work on the ARM architecture, i.e. M1/M2 MacBooks). If you are not using the simulation environment, this step is not needed:

mkdir -p ~/arcturus/vrx_ws/src

3. Cloning required packages for development workspace

Next, clone the required packages for code development in ~/arcturus/dev_ws/src:

cd ~/arcturus/dev_ws/src
git clone [email protected]:ArcturusNavigation/all_seaing_vehicle.git
git clone https://github.com/ArcturusNavigation/ros2-keyboard.git

Note that you need to have your SSH key added to GitHub to clone all_seaing_vehicle.

[Optional] Clone the following if using external sensors (ZED camera, LiDAR). Only do this step if you're sure that you will use the sensors as the ZED requires an additional installation of the ZED SDK:

git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper
git clone -b ros2 https://github.com/ros-drivers/velodyne.git

4. [Optional] Installing required packages for simulation workspace

This step is only required if running the Virtual RobotX simulation environment. Unfortunately, as of now (12/30/2023), the Gazebo Garden simulation environment does not support the ARM architecture, meaning it is unable to able to run on M1/M2 MacBooks even if using a virtual environment.

Clone the VRX repository in ~/arcturus/vrx_ws/src:

cd ~/arcturus/vrx_ws/src
git clone [email protected]:ArcturusNavigation/vrx.git

Then, install Gazebo Garden using the following commands:

sudo apt update
sudo apt install lsb-release wget gnupg
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt update
sudo apt install -y gz-garden python3-sdformat13 ros-humble-ros-gzgarden ros-humble-xacro

5. Installing remaining dependencies

Remaining dependencies can be installed by running the following commands:

sudo apt install -y python3-rosdep2 python3-colcon-common-extensions libsdl1.2-dev ros-humble-robot-localization
source /opt/ros/humble/setup.bash
rosdep init
rosdep update
cd ~/arcturus/dev_ws
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble

Additionally run these commands to install additional dependencies for the VRX simulation environment:

cd ~/arcturus/vrx_ws
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble

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