Getting Started

Install ROS2 foxy.

Deb installation is strongly recomended. You can always find updated step to install [here](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/)

To install ROS2 foxy desktop ;

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 update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install ros-foxy-desktop
source /opt/ros/foxy/setup.bash

Install all deps and vox_nav;

mkdir -p ~/ros2_ws/src
source /opt/ros/foxy/setup.bash
sudo apt install python3-colcon-common-extensions
sudo apt install -y python3-rosdep2
sudo apt-get install python3-vcstool
sudo apt-get install xdotool
sudo apt-get install coinor-libipopt-dev
rosdep update
cd ~/ros2_ws
wget https://raw.githubusercontent.com/jediofgever/vox_nav/foxy/underlay.repos
vcs import src < underlay.repos --recursive
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-select ompl casadi; \
sudo cp install/ompl/lib/libompl.so* /usr/local/lib/
sudo cp install/casadi/lib/libcasadi.so* /usr/local/lib/
source install/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-skip-regex archive --packages-skip vox_nav_control vox_nav_cupoch; \
source /opt/ros/foxy/setup.bash
cd ~/ros2_ws
source build/ACADO/acado_env.sh
source install/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-select vox_nav_control; \

There are dependency libraries that needs source build perception_pcl ,OMPL and casadi etc.. The above sript will build and install them and remove the source code as its not needed.

Note

Pay attention that we have disabled the build of archived_ packages and vox_nav_cupoch. The archived package are not in use and not needed but are kept for convenience. The cupoch package is really meaty and it is used for ICP, NDT localization algos.

You can update code by vcstool, you can also us classic git pull.

cd ~/ros2_ws
vcs import src < underlay.repos
vcs pull src

Note

If for some reason you could not build vox_nav, a good place to seek for a solution is the github actions file that we have. After each pull-push github actions is setup to build the vox_nav on remote to ensure stability of builds. Find a recent successful build and see the commands in .github/workflows/main.yml. The commands should more or less look as in this page.