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This repository contains the ROS2 system for the UBC SubBots Triton AUV. It is meant be launched in Ubuntu 20.04 on the Jetson TX2 on board the Triton AUV.
To get started, first clone this repo to your computer running Ubuntu 20.04 into whatever directory you choose as such
To install Gazebo, it is as simple as running the following command
curl -sSL http://get.gazebosim.org | shTo verify it was succesfully installed, run the following command
gazebo --versionNext, we need to add the setup script to our .bashrc so that it is sourced on every new terminal, open up ~/.bashrc in a text editor or in nano as such
nano ~/.bashrcAppend the following line to the bottom of the file
source /usr/share/gazebo/setup.shNow Gazebo is succesfully installed!
First, make sure you have all the dependencies installed for building and running OpenCV
sudo apt-get install build-essential # compiler
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev # required
sudo apt-get install python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev # optionalThen download the OpenCV 4.5.3 source and create a build folder to navigate to as such
cd ~
git clone https://github.com/opencv/opencv
cd opencv
git checkout 4.5.3
mkdir build
cd buildNext configure CMake for the build as such
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..Still from the build folder, make the project using parallel jobs, this will take a while
make -j7 # runs 7 jobs in parallelAfter the make command finishes successfully, install OpenCV as such
sudo make installOpenCV is now succesfully installed!
Source the global ROS2 setup script in the terminal
source /opt/ros/foxy/setup.bashNext, install rosdep as such
sudo apt install python3-rosdep2
rosdep updateThen, from the folder triton, resolve any dependency issues using the following command
rosdep install -i --from-path src --rosdistro foxy -yFrom the same folder, build all the packages using the following command
colcon buildTo finish the setup, edit your .bashrc file to source the global and local setup scripts whenever you open up a new terminal, this can be done using a text editor or by using nano as such
nano ~/.bashrcNavigate to the bottom of the file and add the following three lines, be sure to set <PATH_TO_TRITON> to whatever it is on your machine
source /opt/ros/foxy/setup.bash # global setup script
source <PATH_TO_TRITON>/triton/install/setup.bash # local setup script
export RCUTILS_COLORIZED_OUTPUT=1The last line is helpful in that it colorizes ROS2 logging so that info/warn/error messages are easier to differentiate. Once this is done, open a new terminal for the .bashrc to be executed and the required scripts be sourced. To perform a sanity check that everything is working, launch the pipeline as such
ros2 launch triton_pipeline pipeline_launch.py sequence:=example_sequence.yamlIf this command executes successfully, you are ready to develop!
To learn how to contribute to this repo, see the seperate workflow and conventions documents.
Here are some tips to be aware of when developing on this repository and when developing in ROS2 in general
colcon command such as colcon build or colcon test that you do so in the root folder of this directory (i.e triton)ros2 component types and be usable by the pipeline.ros2 topic|service|action listand rqt_graph to see that you are using the desired communcation channels.CMakeLists.txt, package.xml) and the build of that package is failing because it says it can't find the package, make sure you have it installed by running rosdep install -i --from-path src --rosdistro foxy -y in the triton folder, and also that a release for the distro we are using (foxy) exists on the ROS2 package index.rosdep.This repository contains the ROS2 system for the UBC SubBots Triton AUV. It is meant be launched in Ubuntu 20.04 on the Jetson TX2 on board the Triton AUV.
To get started, first clone this repo to your computer running Ubuntu 20.04 into whatever directory you choose as such
To install Gazebo, it is as simple as running the following command
curl -sSL http://get.gazebosim.org | shTo verify it was succesfully installed, run the following command
gazebo --versionNext, we need to add the setup script to our .bashrc so that it is sourced on every new terminal, open up ~/.bashrc in a text editor or in nano as such
nano ~/.bashrcAppend the following line to the bottom of the file
source /usr/share/gazebo/setup.shNow Gazebo is succesfully installed!
First, make sure you have all the dependencies installed for building and running OpenCV
sudo apt-get install build-essential # compiler
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev # required
sudo apt-get install python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev # optionalThen download the OpenCV 4.5.3 source and create a build folder to navigate to as such
cd ~
git clone https://github.com/opencv/opencv
cd opencv
git checkout 4.5.3
mkdir build
cd buildNext configure CMake for the build as such
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..Still from the build folder, make the project using parallel jobs, this will take a while
make -j7 # runs 7 jobs in parallelAfter the make command finishes successfully, install OpenCV as such
sudo make installOpenCV is now succesfully installed!
Source the global ROS2 setup script in the terminal
source /opt/ros/foxy/setup.bashNext, install rosdep as such
sudo apt install python3-rosdep2
rosdep update --include-eol #(Foxy is now at end of life)Then, from the folder triton, resolve any dependency issues using the following command
rosdep install -i --from-path src --rosdistro foxy -yFrom the same folder, build all the packages using the following command
colcon buildTo finish the setup, edit your .bashrc file to source the global and local setup scripts whenever you open up a new terminal, this can be done using a text editor or by using nano as such
nano ~/.bashrcNavigate to the bottom of the file and add the following three lines, be sure to set <PATH_TO_TRITON> to whatever it is on your machine
source /opt/ros/foxy/setup.bash # global setup script
source <PATH_TO_TRITON>/triton/install/setup.bash # local setup script
export RCUTILS_COLORIZED_OUTPUT=1The last line is helpful in that it colorizes ROS2 logging so that info/warn/error messages are easier to differentiate. Once this is done, open a new terminal for the .bashrc to be executed and the required scripts be sourced. To perform a sanity check that everything is working, launch the pipeline as such
ros2 launch triton_pipeline pipeline_launch.py sequence:=example_sequence.yamlIf this command executes successfully, you are ready to develop!
To learn how to contribute to this repo, see the seperate workflow and conventions documents.
Here are some tips to be aware of when developing on this repository and when developing in ROS2 in general
colcon command such as colcon build or colcon test that you do so in the root folder of this directory (i.e triton)ros2 component types and be usable by the pipeline.ros2 topic|service|action listand rqt_graph to see that you are using the desired communcation channels.CMakeLists.txt, package.xml) and the build of that package is failing because it says it can't find the package, make sure you have it installed by running rosdep install -i --from-path src --rosdistro foxy -y in the triton folder, and also that a release for the distro we are using (foxy) exists on the ROS2 package index.rosdep.
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