Run ROS locally

At Labs

At labs (e.g., E130, E132), Robot Operating System (ROS) is available through Singularity containers.

Open terminal and run singularity image with Ubuntu 20.04 + ROS Noetic:
singularity shell --nv /opt/singularity/robolab/noetic
(--nv is needed for graphical output, e.g. RViz)
Then source common ARO catkin workspace:
source /opt/ros/aro/setup.bash
or, your own workspace (if you have any):
source ~/workspace/aro/devel/setup.bash

On Your Computer

Linux

Use either local installation on Ubuntu 20.04, or Singularity below.

Local installation on Ubuntu 20.04

http://wiki.ros.org/noetic/Installation/Ubuntu

If you don't use Singularity and the provided image, all dependencies and parent workspaces must be installed manually. Scripts in repository https://gitlab.fel.cvut.cz/robolab/deploy can help with that.

Install dependencies:

git clone https://gitlab.fel.cvut.cz/robolab/deploy.git
sudo xargs -a deploy/config/robolab_noetic.apt apt-get install

Configure required workspaces (robolab, aro, lar, mkr) in a selected parent directory, e.g. ~/workspace/ros:

ws_parent=~/workspace/ros rosdep=y sudo deploy/scripts/setup_noetic_workspaces

If you encounter error message error: option –install-layout not recognized, you may need to purge incompatible libraries installed via pip, or install a compatible version, see the issue.

Then, your student's workspace, e.g. ~/workspace/aro, should extend your local ~/workspace/ros/aro workspace instead of /opt/ros/aro used with Singularity image.

catkin config --extend ~/workspace/ros/aro

Singularity

  1. If you have Ubuntu 20.04 installed, the package is missing in system repositories and you have to install Singularity manually.
    Follow the Quick Start Guide https://sylabs.io/guides/3.5/user-guide/quick_start.html
    and use version 3.5.3 https://github.com/hpcng/singularity/releases/tag/v3.5.3 (download command: wget https://github.com/apptainer/singularity/releases/download/v3.5.3/singularity-3.5.3.tar.gz). For other systems, refer to https://sylabs.io/guides/latest/user-guide/.
  2. Build Singularity image:
    git clone https://gitlab.fel.cvut.cz/robolab/deploy.git
    cd deploy/singularity
    singularity build --fakeroot robolab_noetic.simg robolab_noetic.txt
  3. run singularity image with Ubuntu 20.04 + ROS Noetic:
    singularity shell --nv path/to/robolab_noetic.simg
    (--nv is needed for graphical output with NVIDIA graphic card, e.g. RViz)
  4. Then source common ARO catkin workspace:
    source /opt/ros/aro/setup.bash
    or, your own workspace (if you have any):
    source ~/workspace/aro/devel/setup.bash
courses/b3m33aro/tutorials/ros.txt · Last modified: 2022/03/07 14:21 by petrito1