In order to run the public simulation of TIAGo OMNI Base it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
Set up ROS packages sources
In order to install the required ROS packages for running TIAGo OMNI Base simulation first, as explained in ROS Noetic installation, it is required to include packages.ros.org in the debian sources:
sudo apt update sudo apt install lsb-release # if you haven't already installed lsb-release sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt install curl gnupg # if you haven't already installed curl or gnupg curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git wget python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3
Append the following command to ~/.bashrc to allow any console to use the catkin commands
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 ~/omni_base_public_ws cd ~/omni_base_public_ws
Then run the following instruction in order to download the common_public-noetic.rosinstall, omni_base_public-noetic.rosinstall and clone all the required repositories within the workspace:
wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/noetic-devel/common_public-noetic.rosinstall wget https://raw.githubusercontent.com/pal-robotics/omni_base_tutorials/noetic-devel/omni_base_public-noetic.rosinstall rosinstall src /opt/ros/noetic common_public-noetic.rosinstall rosinstall src /opt/ros/noetic omni_base_public-noetic.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 noetic --skip-keys "omni_drive_controller urdf_test pal_filters speed_limit_node hokuyo_node pal_loc_measure pal_map_manager"
Then, you may proceed building the workspace:
source /opt/ros/noetic/setup.bash catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
Once you compiled all packages and source the environment (source ~/tiago_omni_base_public_ws/devel/setup.bash) and it's all ready to go.