RoboJackets Wiki - User contributions [en]

RoboRacing Software Installation Instructions

2021-11-21T21:38:15Z

Cjenkins72: /* Install ROS Noetic */

[[Category:RoboRacing]]
Welcome!

Robojackets RoboRacing currently supports an Ubuntu 20.04 and ROS-noetic environment. The project may build/run in other environments, but we can't guarantee it.

Let's begin the installation process.

== THESE INSTRUCTIONS ARE FOR ROS1 IF YOU WANT TO FOLLOW THE ROS2 INSTRUCTIONS GO TO THIS LINK: https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions_ROS2 ==

= Install ROS Noetic =

== Step 1 - ROS Installation ==
We will be using the instructions found on the ROS Noetic Ubuntu [http://wiki.ros.org/noetic/Installation/Ubuntu Guide]
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' <br>
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 <br>
sudo apt update <br>
sudo apt install ros-noetic-desktop-full --yes <br>
</span></div>

== Step 2 - Environment Variable Setup ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc <br>
source ~/.bashrc
</span></div>

== Step 3 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which ''obviously'' increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

= Setup Workspace =
== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/catkin_ws/src <br>
cd ~/catkin_ws/src <br>
git clone https://github.com/RoboJackets/roboracing-software.git --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/catkin_ws <br>
sudo apt install python3-rosdep python-is-python3 python3-catkin-tools --yes <br>
rosdep install --from-path src --ignore-src -y -r <br>
</span></div>
* ''rosdep'' will download and install all of the necessary ros package dependencies
* -r option is there to ensure that one package failure will not prevent all other packages from being installed

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make <br>
source ~/catkin_ws/devel/setup.bash
</span></div>

You can run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
</span></div>
to ensure you don't have to source this setup.bash after every compilation.

If you see an error:
CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):
Unable to find either executable 'empy' or Python module 'em'... try
installing the package 'python3-empy'

Run this instead
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3<br>
source ~/catkin_ws/devel/setup.bash
</span></div>

Sometimes the python location is not accurate, causing a cmake to fail. This option also works if you are using catkin build.
</span></div>

== Step 7 - Dependencies Problems ==
For some computers, some of our packages aren't getting installed with ''rosdep install'' so just install them manually if you have issues with them:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controllers ros-noetic-robot-localization
</span></div>

Ensure that your pyyaml is set to the proper version
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
pip install pyyaml==5.1.2
</span></div>

= Run the Code =
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roscore &
</span></div>
*Then press [Enter]
=== For IARRC Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo macaroni_iarrc_circuit.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_iarrc test_circuit_sim.launch
</span></div>

=== For EVGP Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo evgp.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_evgp evgp_planning_demo.launch
</span></div>

* Remeber to do ''source ~/catkin_ws/devel/setup.bash'' if the launch file can't be found in package (you should add this to ~/.bashrc if you haven't already)
* Gazebo sometimes freezes when loading right after installation so just run it, wait, kill it with [Ctrl-C], wait until it is dead, then retry!

RoboRacing Software Installation Instructions ROS2

2021-11-17T22:01:40Z

Cjenkins72: /* Step 6 - Building the Code */

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws

sudo apt install -y python3-colcon-common-extensions

sudo rosdep init

rosdep update

rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build

source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing Software Installation Instructions ROS2

2021-11-17T22:00:01Z

Cjenkins72: /* Step 5 - Install Dependencies */

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws

sudo apt install -y python3-colcon-common-extensions

sudo rosdep init

rosdep update

rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build
source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing Software Installation Instructions ROS2

2021-11-17T21:58:39Z

Cjenkins72: /* Step 5 - Install Dependencies */

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws

sudo apt install -y python3-colcon-common-extensions python3-rosdep

rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build
source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing Software Installation Instructions ROS2

2021-11-16T02:22:43Z

Cjenkins72: /* Step 1 - ROS2 Galactic Installation */

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws
sudo apt install -y python3-colcon-common-extensions python3-rosdep
rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build
source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing Software Installation Instructions ROS2

2021-10-04T00:45:32Z

Cjenkins72: Created page with "Category:RoboRacing Welcome! This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_I..."

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws
sudo apt install -y python3-colcon-common-extensions python3-rosdep
rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build
source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing Software Installation Instructions

2021-08-27T01:29:13Z

Cjenkins72: Add steps for empy failure

[[Category:RoboRacing]]
Welcome!

Robojackets RoboRacing currently supports an Ubuntu 20.04 and ROS-noetic environment. The project may build/run in other environments, but we can't guarantee it.

Let's begin the installation process.

= Install ROS Noetic =
== Step 1 - ROS Installation ==
We will be using the instructions found on the ROS Noetic Ubuntu [http://wiki.ros.org/noetic/Installation/Ubuntu Guide]
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' <br>
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 <br>
sudo apt update <br>
sudo apt install ros-noetic-desktop-full --yes <br>
</span></div>

== Step 2 - Environment Variable Setup ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc <br>
source ~/.bashrc
</span></div>

== Step 3 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which ''obviously'' increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

= Setup Workspace =
== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/catkin_ws/src <br>
cd ~/catkin_ws/src <br>
git clone https://github.com/RoboJackets/roboracing-software.git --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/catkin_ws <br>
sudo apt install python3-rosdep python-is-python3 python3-catkin-tools --yes <br>
rosdep install --from-path src --ignore-src -y -r <br>
</span></div>
* ''rosdep'' will download and install all of the necessary ros package dependencies
* -r option is there to ensure that one package failure will not prevent all other packages from being installed

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make <br>
source ~/catkin_ws/devel/setup.bash
</span></div>

You can run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
</span></div>
to ensure you don't have to source this setup.bash after every compilation.

If you see an error:
CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):
Unable to find either executable 'empy' or Python module 'em'... try
installing the package 'python3-empy'

Run this instead
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3<br>
source ~/catkin_ws/devel/setup.bash
</span></div>

Sometimes the python location is not accurate, causing a cmake to fail. This option also works if you are using catkin build.
</span></div>

== Step 7 - Dependencies Problems ==
For some computers, some of our packages aren't getting installed with ''rosdep install'' so just install them manually if you have issues with them:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controllers ros-noetic-robot-localization
</span></div>

Ensure that your pyyaml is set to the proper version
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
pip install pyyaml==5.1.2
</span></div>

= Run the Code =
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roscore &
</span></div>
*Then press [Enter]
=== For IARRC Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo macaroni_iarrc_circuit.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_iarrc test_circuit_sim.launch
</span></div>

=== For EVGP Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo evgp.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_evgp evgp_planning_demo.launch
</span></div>

* Remeber to do ''source ~/catkin_ws/devel/setup.bash'' if the launch file can't be found in package (you should add this to ~/.bashrc if you haven't already)
* Gazebo sometimes freezes when loading right after installation so just run it, wait, kill it with [Ctrl-C], wait until it is dead, then retry!

RoboRacing Software Installation Instructions

2021-08-27T01:25:05Z

Cjenkins72: Set pyyaml to correct version

[[Category:RoboRacing]]
Welcome!

Robojackets RoboRacing currently supports an Ubuntu 20.04 and ROS-noetic environment. The project may build/run in other environments, but we can't guarantee it.

Let's begin the installation process.

= Install ROS Noetic =
== Step 1 - ROS Installation ==
We will be using the instructions found on the ROS Noetic Ubuntu [http://wiki.ros.org/noetic/Installation/Ubuntu Guide]
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' <br>
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 <br>
sudo apt update <br>
sudo apt install ros-noetic-desktop-full --yes <br>
</span></div>

== Step 2 - Environment Variable Setup ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc <br>
source ~/.bashrc
</span></div>

== Step 3 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which ''obviously'' increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

= Setup Workspace =
== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/catkin_ws/src <br>
cd ~/catkin_ws/src <br>
git clone https://github.com/RoboJackets/roboracing-software.git --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/catkin_ws <br>
sudo apt install python3-rosdep python-is-python3 python3-catkin-tools --yes <br>
rosdep install --from-path src --ignore-src -y -r <br>
</span></div>
* ''rosdep'' will download and install all of the necessary ros package dependencies
* -r option is there to ensure that one package failure will not prevent all other packages from being installed

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make <br>
source ~/catkin_ws/devel/setup.bash
</span></div>

You can run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
</span></div>
to ensure you don't have to source this setup.bash after every compilation.

== Step 7 - Dependencies Problems ==
For some computers, some of our packages aren't getting installed with ''rosdep install'' so just install them manually if you have issues with them:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controllers ros-noetic-robot-localization
</span></div>

Ensure that your pyyaml is set to the proper version
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
pip install pyyaml==5.1.2
</span></div>

= Run the Code =
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roscore &
</span></div>
*Then press [Enter]
=== For IARRC Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo macaroni_iarrc_circuit.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_iarrc test_circuit_sim.launch
</span></div>

=== For EVGP Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo evgp.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_evgp evgp_planning_demo.launch
</span></div>

* Remeber to do ''source ~/catkin_ws/devel/setup.bash'' if the launch file can't be found in package (you should add this to ~/.bashrc if you haven't already)
* Gazebo sometimes freezes when loading right after installation so just run it, wait, kill it with [Ctrl-C], wait until it is dead, then retry!

RoboRacing Software Installation Instructions

2021-08-27T01:23:29Z

Cjenkins72: Add -r to rosdep install

[[Category:RoboRacing]]
Welcome!

Robojackets RoboRacing currently supports an Ubuntu 20.04 and ROS-noetic environment. The project may build/run in other environments, but we can't guarantee it.

Let's begin the installation process.

= Install ROS Noetic =
== Step 1 - ROS Installation ==
We will be using the instructions found on the ROS Noetic Ubuntu [http://wiki.ros.org/noetic/Installation/Ubuntu Guide]
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' <br>
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 <br>
sudo apt update <br>
sudo apt install ros-noetic-desktop-full --yes <br>
</span></div>

== Step 2 - Environment Variable Setup ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc <br>
source ~/.bashrc
</span></div>

== Step 3 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which ''obviously'' increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

= Setup Workspace =
== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/catkin_ws/src <br>
cd ~/catkin_ws/src <br>
git clone https://github.com/RoboJackets/roboracing-software.git --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/catkin_ws <br>
sudo apt install python3-rosdep python-is-python3 python3-catkin-tools --yes <br>
rosdep install --from-path src --ignore-src -y -r <br>
</span></div>
* ''rosdep'' will download and install all of the necessary ros package dependencies
* -r option is there to ensure that one package failure will not prevent all other packages from being installed

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
catkin_make <br>
source ~/catkin_ws/devel/setup.bash
</span></div>

You can run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
</span></div>
to ensure you don't have to source this setup.bash after every compilation.

== Step 7 - Dependencies Problems ==
For some computers, some of our packages aren't getting installed with ''rosdep install'' so just install them manually if you have issues with them:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install ros-noetic-costmap-2d ros-noetic-effort-controllers ros-noetic-robot-localization
</span></div>

= Run the Code =
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roscore &
</span></div>
*Then press [Enter]
=== For IARRC Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo macaroni_iarrc_circuit.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_iarrc test_circuit_sim.launch
</span></div>

=== For EVGP Simulation ===
* In one terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_gazebo evgp.launch
</span></div>
* In '''another''' terminal run:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
roslaunch rr_evgp evgp_planning_demo.launch
</span></div>

* Remeber to do ''source ~/catkin_ws/devel/setup.bash'' if the launch file can't be found in package (you should add this to ~/.bashrc if you haven't already)
* Gazebo sometimes freezes when loading right after installation so just run it, wait, kill it with [Ctrl-C], wait until it is dead, then retry!