cd ~ ; rm install_gamma.sh; wget https://raw.githubusercontent.com/jkk-research/gamma/main/etc/install_gamma.sh; sudo chmod +x install_gamma.sh; ./install_gamma.sh forceInfo
This will create an install_gamma.sh shell script, a workspace, clone repos, install a simulator and build the packages. The force option removes the previous workspace.
./install_gamma.sh force./install_gamma.sh
Create your workspace
mkdir -p ~/gamma_ws/src
You can use different name (in step-by-step install)
Clone repos
- https://github.com/jkk-research/jkk_utils :
gamma_bringup, teleop and other utiltiy packages - https://github.com/jkk-research/wayp_plan_tools : waypoint following and control
- https://github.com/jkk-research/sim_wayp_plan_tools : simulator (gamma branch)
- https://github.com/jkk-research/patchwork-plusplus-ros : ground filter
- https://github.com/jkk-research/lidar_cluster_ros2 : cluster, object detection
- https://github.com/jkk-research/komondor_sensors : private (hidden) 3D and sensory data
Build ROS 2 packages
cd ~/gamma_ws
colcon build --symlink-install --packages-select gamma_bringup lidar_cluster patchworkpp sim_wayp_plan_tools time_utils wayp_plan_tools
Install the simulator
Gazebo ignition fortress can be installed from the insructions here: https://gazebosim.org/docs/fortress/install_ubuntu Also a TLDR install is here:
sudo apt-get update -y
sudo apt-get install lsb-release wget gnupg -y
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update -y
sudo apt-get install ignition-fortress -y
sudo apt install ros-humble-foxglove-bridge -y
sudo apt install ros-humble-rosbag2-storage-mcap ros-humble-rosbag2 -y
sudo apt install ros-humble-ros-gz -y
sudo apt install mc -y