Source installation

Prerequisites

• OS - Ubuntu 22.04 LTS or macOS Sonoma
• ROS - ROS 2 Humble
• Git
• pip
• curl

sudo apt update
sudo apt install git curl python3-pip

Set up development environment

1. Install CUDA and cuDNN (Optional)

   Please access the NVIDIA website and install CUDA 11.8 along with the corresponding cuDNN. Once you can execute nvcc --version the installation is complete.

2. Install ROS 2

   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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   sudo apt update
   sudo apt install ros-humble-desktop ros-dev-tools
   

3. rosdep setup

   sudo rosdep init
   rosdep update
   

4. Install PyTorch

   python3 -m pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
   

5. Workspace setup

   mkdir -p ~/ros_ws/src
   cd ~/ros_ws/src
   git clone https://github.com/hakoroboken/roboware-neo.universe.git
   cd ~/ros_ws
   rosdep install -y --from-paths src --ignore-src --skip-keys=OpenCV --skip-keys=PCL --rosdistro humble
   

   6. Compile

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
   

Additional Component Setup

1. Install Foxglove and MCAP.

   sudo apt install ros-humble-foxglove-bridge ros-humble-rosbag2-storage-mcap