2.3. Pre-built Packages

For convenience, we provide our own packages as pre-built binaries at repositories.hippocampus-robotics.net. The advantage is that we do not need to compile the packages we are not developing actively ourselfs.

Note

Packages in a local workspace have a higher priority than the ones installed in /opt/ros/ via debian packages. So we can install all our packages via apt install and still use a custom/modifed version of them by having them included in our workspace.

Note

In case that we do not wish to install the pre-built binaries, it is perfectly fine to skip this part and clone all the required packages into our workspace and build them on our own.

2.3.1. Add Sources

  1. Adding the key

    $ sudo curl https://repositories.hippocampus-robotics.net/hippo-archive.key -o /etc/apt/keyrings/hippocampus-robotics.asc

  2. Adding the sources

    $ echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/hippocampus-robotics.asc] https://repositories.hippocampus-robotics.net/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/hippocampus.list

  3. Updating apt

    $ sudo apt update

2.3.2. rosdep

  1. Add keys for rosdep so it knows that our packages can be resolved via apt install ros-${ROS_DISTRO}-<pkg-name>.

    Attention

    Make sure that ROS_DISTRO is set to the installed ROS version. If you followed the previous section, this should already be done. It can be checked by

    $ echo $ROS_DISTRO
jazzy # (or whatever ROS version is used.)

    If it not set, it can be set manually by

    $ export ROS_DISTRO=jazzy

    $ echo "yaml https://raw.githubusercontent.com/HippoCampusRobotics/hippo_infrastructure/main/rosdep-${ROS_DISTRO}.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/50-hippocampus-packages.list

  2. Apply the changes

    $ rosdep update

2.3.3. Installation

For desktop use hippo_full is most likely the appropriate choice, while for Raspberry Pis deployed with the Ubuntu server image the hippo_robot package without graphical dependencies is the better choice.

$ sudo apt install ros-${ROS_DISTRO}-hippo-full

For more details on the concept of pre-built packages see here.