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

• Get the project repository, source build deps and build deps first;

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 git
rosdep update
cd ~/ros2_ws/src
git clone --recursive https://github.com/NMBURobotics/botanbot_sim.git
cd ~/ros2_ws
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 4

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 botanbot_sim 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.