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Setup

Please contact Jihwan Ben Shin or Jin Rhee if you have any questions.

1. Install Ubuntu and VS Code

Follow the guides for Windows or Mac to install Ubuntu virtual machine and Visual Studio Code for your computer.

2. Install ROS2 Humble

For our project, we will be using ROS2 Humble as our main framework to move our robot. Install ROS2 Humble following Open Robotics' Documentation in your Ubuntu virtual machine, not your local Windows/Mac machine.

In the step "Install ROS 2 packages", you will be given 3 options: Desktop Install, ROS-Base install, and Development tools. Please choose the Desktop version with the following line of code for full access to our project.

sudo apt install ros-humble-desktop

2.1. Sourcing the setup script

To use ROS2, you will have to source the setup script using the following line of code each time you open a new terminal session.

source /opt/ros/humble/setup.bash

If you want to do this automatically, add the line of code above to .bashrc in your home directory. You can easily do so by using the following line of code.

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

2.2. Install colcon

In the next step, you will have to use a tool called "colcon" to build packages in ROS2. Install colcon using the following line of code.

sudo apt install python3-colcon-common-extensions

You can also follow Open Robotics' Documentation to learn more about colcon.

2.3. Learning more about ROS2

You can learn more about ROS2 by following ROS2 Humble tutorials. You can also search for more resources online, but do note that some functionalities may vary for different versions of ROS2.

3. Download Qronk workspace

Create a source directory under your workspace (i.e. ~/qronk_ws/src/), and clone this repository into the src folder.

mkdir -p ~/qronk_ws/src/
cd ~/qronk_ws/src/
git clone https://github.com/QronkOxford/Qronk.git .

On terminal, head to the qronk_ws directory and run the colcon build command in order to build the workspace.

cd ~/qronk_ws/
colcon build

3.1. Install dependencies

To run some of our files, you may need to install some additional dependencies. We have a list of dependencies. Please let us know if we are missing any dependencies.

4. Usage

4.1. Sourcing the workspace setup script

To use the package you have built, you need to source the workspace setup script in addition to the ROS2 setup script. Use the following line of code each time you open a new terminal session.

source ~/qronk_ws/install/setup.bash

If you want to do this automatically, add the line of code above to .bashrc in your home directory. You can easily do so by using the following line of code.

echo "source ~/qronk_ws/install/setup.bash" >> ~/.bashrc

4.2. Using the launch files

You can now use any of the launch files using the following command:

ros2 launch <package_name> <launch_file_name>

For example, to display our model on Rviz:

ros2 launch qronk_description display.launch.xml

5. Troubleshooting

We will add any common problems here with its answers.