Skip to content

Latest commit

 

History

History
57 lines (38 loc) · 1.77 KB

installation.md

File metadata and controls

57 lines (38 loc) · 1.77 KB

Installation

Build from Source

These instructions assume you are running on Ubuntu 22.04:

  1. Install ROS2 humble. You can stop following along with the tutorial after you complete the section titled: Environment setup. Make sure you setup your environment with:
source /opt/ros/humble/setup.bash

NOTE: You may want to add that line to your ~/.bashrc

  1. Install ROS2 Build Tools

    NOTE: If installing on a fresh OS, run sudo rosdep init and rosdep update before the install script

  2. Create a colcon workspace (Note: Feel free to change ~/ws_ros2 to whatever absolute path you want):

export COLCON_WS=~/ws_ros2/
mkdir -p $COLCON_WS/src
  1. Get the repo:
cd $COLCON_WS/src
git clone [email protected]:JafarAbdi/moveitpy_simple.git
  1. Download the required repositories and install any dependencies:
cd $COLCON_WS/src
vcs import < moveitpy_simple/moveitpy_simple.repos
rosdep install --ignore-src --from-paths . -y

# Pick a ROS_DOMAIN_ID that doesn't clash with others
echo 'export ROS_DOMAIN_ID='<YOUR-NUMBER> >> ~/.bashrc
  1. Configure and build the workspace:
cd $COLCON_WS
colcon build --symlink-install --event-handlers log-
  1. Source the workspace.
source $COLCON_WS/install/setup.bash

Note: Whenever you open a new terminal be sure to run source /opt/ros/humble/setup.bash, export COLCON_WS=~/ws_ros2, and source $COLCON_WS/install/setup.bash. You may want to add those commands to your ~/.bashrc