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MATE Software Setup
The majority of MATE ROV software is written in Python, with a dollop C++ for added flavor. Most of us use Visual Studio Code or PyCharm for editing. VSCode is a general-purpose editor, so go with that if you don't have either.
Our surface computer runs on Ubuntu. If you already use Ubuntu, skip this section. If you're on a Mac, much badness; try installing an Ubuntu VM. If you're on Windows, do the following to install the Windows Subsystem for Linux:
Open PowerShell with admin permissions (⊞ Win + s > type powershell > Run as Administrator)
Run wsl --install
Restart your machine
See the official installation instructions for more info.
Open a new Ubuntu terminal (on Windows: ⊞ Win + s > type ubuntu > Ubuntu on Windows)
First, install curl to be able to download our install script
sudo apt install curl
Download the install script
curl -o install.sh https://raw.githubusercontent.com/cwruRobotics/.github/main/ROS2-Install-Galactic.sh
Run the install script
source install.sh
If there are failures, try the manual installation.
Open a new Ubuntu terminal (on Windows: ⊞ Win + s > type ubuntu > Ubuntu on Windows)
Run locale and make sure the output includes a LANG= line with UTF-8 at the end
Run apt-cache policy | grep universe and make sure the output includes something like
500 http://archive.ubuntu.com/ubuntu focal/universe amd64 Packages
release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64
If it doesn't or you aren't sure (make sure the word focal is in there!), run sudo apt install software-properties-common and sudo add-apt-repository universe
Now run the following:
sudo apt update && sudo apt install curl gnupg lsb-release
lsb_release -a.
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-galactic-desktop
Add an automatic setup script to your startup file if you don't have it already:
grep "source /opt/ros/galactic/setup.bash" ~/.bashrc
If the previous command did not return source /opt/ros/galactic/setup.bash, then run echo 'source /opt/ros/galactic/setup.bash' >> ~/.bashrc.
Open a terminal and run
ros2 run demo_nodes_cpp talker
You should see messages being published.
Open a second terminal and run
ros2 run demo_nodes_py listener
You should see messages being received from the talker.
Set up your ROS 2 workspace here.
If you're curious, maybe try following these ROS Galactic tutorials.