Lancaster University Group 3 masters project "Autonomous Path Planning For Radioactive Environments"
For this workspace to run, a few extra packages need to be installed.
Firstly, udpate and upgrade apt
sudo apt update
sudo apt upgrade
Install colcon
sudo apt install python3-colcon-common-extensions
Firstly install ROS2 Humble using the provided documentation (ros-humble-desktop recommended):
https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
Install the Navigation2 Package
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
Install the SLAM Toolbox by Steve Macenski:
sudo apt install ros-humble-slam-toolbox
Install Gazebo classic
curl -sSL http://get.gazebosim.org | sh
Install gazebo_ros_pkgs
sudo apt install ros-foxy-gazebo-ros-pkgs
Install python3-pip
sudo apt install python3-pip
install the xacro extension
pip install xacro
Then clone this repo (probably into your home directory)
git clone https://github.com/bcheshire1/appfre_ws.git
Navigate into the appfre_ws directory
cd appfre_ws
When building the workspace, you will need to remove the build, log, and install directories (simply open file explorer and delete them, or alternatively, run the command below). This will give colcon a clean build space to build from and will prevent any issues arising due to difference in PC names etc.
Do this by running this command from your workspace (~/appfre_ws$ ):
rm -r install && rm -r build && rm -r log
Build the workspace with colcon
colcon build --symlink-install
Test to see if the package has installed correctly by running this command
ros2 launch bunker_mini launch_nav2.launch.py world:=./src/bunker_mini/worlds/room.world
This runs a launch file that's located within the bunker_mini package. This launch file effectively runs a bunch of terminal commands, opening the relevant software to run the navigation2 stack
Install the SLAM Toolbox by Steve Macenski:
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup