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Software installation
- Ubuntu 18.04
- ROS melodic (Follow the official installation guide)
- A system with Git SSH and PAT setup completed!
- creating a workspace:
mkdir -p ~/vortex_ws/src && cd ~/vortex_ws
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Enter the folder where you want to clone the repository:
cd ~/vortex_ws/src
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Clone the main repository:
git clone https://github.com/vortexntnu/Vortex-AUV.git
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Enter the main repo
cd Vortex-AUV
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Fetch apt-package dependencies
xargs -a packages.txt sudo apt-get install
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Install python dependencies
pip install -r requirements.txt
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Fetch the other required repositories
cd ~/vortex_ws/src vcs import --skip-existing --input Vortex-AUV/dependencies.repos
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Build the workspace:
cd ~/vortex_ws catkin build
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Add automatic sourcing of the workspace when opening a terminal window:
echo "source ~/vortex_ws/devel/setup.bash" >> ~/.bashrc
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close the current terminal.
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Download and install ZED SDK
- Download from Stereolabs
- Enter the directory with the file:
cd path/to/download/folder
- Make the file executable:
chmod +x ZED_SDK_Ubuntu18_v3.0.run
- Run the installer:
./ZED_SDK_Ubuntu18_v3.0.run
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Enter the catkin workspace:
cd ~/vortex_ws/src
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Clone the zed-ros-wrapper and zed-ros-interfaces repos:
git clone https://github.com/stereolabs/zed-ros-wrapper.git git clone https://github.com/stereolabs/zed-ros-interfaces.git ```
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Jump up to parent directory:
cd ../
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Install dependencies:
rosdep install --from-paths src --ignore-src -r -y
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Build the package:
catkin build
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Source the package:
source ./devel/setup.bash
- Ubuntu 20
- ROS noetic
- Vortex-AUV must be installed
Install Docker and docker-compose:
sudo apt-get update && sudo apt-get install apt-transport-https ca-certificates curl gnupg lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
sudo apt-get update && sudo apt-get install docker-ce docker-ce-cli containerd.io
sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
sudo chmod +x /usr/local/bin/docker-compose
sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose
Once Docker and docker-compose is installed, you can clone the repo and build the container that the simulator runs in:
git clone -b master_containerized https://github.com/vortexntnu/Vortex-Simulator/
cd ./Vortex-Simulator && sudo docker-compose build
sudo docker-compose up -d vortex-simulator
sudo docker-compose exec vortex-simulator /bin/bash
You are now inside the container, and may build the simulator.
cd ~/sim_ws && catkin build
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Enter the folder where you want to clone the repository:
cd vortex_ws/src
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Clone the repository:
git clone https://github.com/vortexntnu/vortex-simulator.git
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Compile the code by running "catkin build" inside the workspace:
cd ~/vortex_ws/ catkin build
Dependencies for ROS Noetic in case of upgrade:
sudo apt install protobuf-compiler ros-noetic-rosbridge-server ros-noetic-message-to-tf ros-noetic-geographic-msgs ros-noetic-move-base ros-noetic-move-base-msgs python3-osrf-pycommon python3-openpyxl python-yaml python-enum34 python3-pip python3-catkin-tools libgeographic-dev
then
pip3 install pyquaternion smbus scipy websocket-client adafruit_pca9685 rospkg bluerobotics-ping
To get rid of any pesky python2 errors still left behind, run:
sudo apt remove python2
sudo apt autoremove
sudo apt install python-is-python3
Note that this removes python2 from your system entirely!
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