Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/pmb2_public_ws
    cd ~/pmb2_public_ws

Then run the following instruction in order to download pmb2_public-melodic.rosinstall and to clone all the required repositories within the workspace:

  • wget
    rosinstall src /opt/ros/melodic pmb2_public-melodic.rosinstall

Then run this command to make sure that all dependencies are installed.

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install -y --from-paths src --ignore-src --rosdistro melodic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"

Then, you may proceed building the workspace:

  • source /opt/ros/melodic/setup.bash
    catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)

Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.

Wiki: Robots/PMB-2/melodic_install (last edited 2023-01-18 16:50:47 by thomaspeyrucain)