ubuntu_installation.md

Installation Guide

1. Make sure you are running Ubuntu 22.04!

2. Install ROS2

sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

sudo apt upgrade

sudo apt install ros-humble-desktop-full

3. Install Colcon

sudo apt install python3-colcon-common-extensions

4. bashrc Setup

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc

source ~/.bashrc

5. Create URC environment

cd <path to where you want to keep the project>

mkdir urc && cd urc

Both the rover and the drone projects will live in the /urc directory. The install process for both projects is very similar and detailed below.

---

Rover

1. Create rover colcon environment

mkdir -p rover-colcon/src

2. Clone the rover repository into the rover-colcon environment

cd rover-colcon
git clone https://github.com/RoboJackets/urc-software.git src --recursive

3. Install and run rosdep

Make sure to call the rosdep install command from the colcon workspace directory (/rover-colcon)!

sudo apt install python3-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y

4. Build your rover workspace

Any time you call colcon build, make sure you are in the colcon directory (/rover-colcon)!

colcon build --symlink-install

5. Source the rover environment

. install/setup.bash

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Recap

You should now have a file structure that looks like

 urc
 └── rover-colcon
     ├── build
     ├── install
     ├── log
     └── src
         └── urc-software