19.1.1. Installing ROS

The following installations steps work for a Ubuntu 20.04 amd64 version and for the Ubuntu 20.04 server image for the Raspberry Pi.

Preparation

Add sources

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Add keys

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Update
```
sudo apt update && sudo apt upgrade -y
```

Installation

Note

Choose the installation option depending on your needs. Probably it’s not reasonable to install ros-noetic-desktop-full on an Ubuntu server image for the Raspberry Pi.

Install ROS

sudo apt install ros-noetic-desktop-full

sudo apt install ros-noetic-ros-base

Install build dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Install catkin-tools

sudo apt install python3-catkin-tools python3-osrf-pycommon

rosdep Initialization

sudo apt install python3-rosdep

sudo rosdep init && rosdep update

Note

Do not execute rosdep update with root privileges. This would lead to permission issues.

Catkin Initialization

Depending on the shell you use, choose one of the following two options:

source /opt/ros/noetic/setup.zsh

source /opt/ros/noetic/setup.bash

Create workspace directories

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws

Initialize your workspace

catkin build

Automatically source your Catkin workspace, choose the option according to your shell:

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
echo "source \$HOME/catkin_ws/devel/setup.zsh" >> ~/.zshrc

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "source \$HOME/catkin_ws/devel/setup.bash" >> ~/.bashrc

Setting up Catkin Workspace

Attention

Make sure you are in your Catkin workspace’s src directory.

Installation of HippoCampus packages

This is a collection of usually needed packages on your personal computer. Feel free to skip unwanted packages and visit GitHub to see a full list of our packages.

git clone git@github.com:HippoCampusRobotics/hippocampus_common.git
git clone git@github.com:HippoCampusRobotics/hippocampus_msgs.git
git clone git@github.com:HippoCampusRobotics/hippocampus_sim.git
git clone git@github.com:HippoCampusRobotics/mu_auv_localization.git
git clone git@github.com:HippoCampusRobotics/control.git
git clone git@github.com:HippoCampusRobotics/path_planning.git

If you want to interact with the gantry you would also want to have the following packages.

git clone git@github.com:HippoCampusRobotics/rqt_gantry.git
git clone git@github.com:HippoCampusRobotics/gantry_control.git

To install dependencies, such as AprilTag and MAVROS:

cd ~/catkin_ws && rosdep install --from-path src --ignore-src -r -y

For MAVROS, you also need to install the GeographicLib datasets:

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

Build your Catkin workspace:

cd ~/catkin_ws && catkin build