- Install WSL2 with Ubuntu 24.04:
wsl --install -d Ubuntu-24.04
- Install ROS2 in WSL:
# add ROS2 packages source to APT
sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb
# install ROS2
sudo apt update
sudo apt install ros-dev-tools ros-humble-desktop
# activate ROS2
source /opt/ros/humble/setup.bash
# install colcon mixins
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
# initialize rosdep
sudo rosdep init
- Clone this repo, with submodules:
git clone https://github.com/RoboTeamTwente/erc-software-rover
git submodule update --init --recursive
- Build this project:
# activate ROS2
source /opt/ros/humble/setup.bash
# install dependencies
rosdep update
rosdep install --from-paths --ignore-src --default-yes src
# librealsense2 must be built with different CMake options
colcon build --packages-select librealsense2 --cmake-args \
-DCHECK_FOR_UPDATES=OFF \
-DFORCE_RSUSB_BACKEND=ON
# actually build, if your computer is low on RAM then use --executor sequential
colcon build
# activate the project
source install/local_setup.bash
- Launch the simulation:
# activate ROS2
source install/setup.bash
# Enable GPU in WSL2
export GALLIUM_DRIVER=d3d12
# You might or might not need to set this variable,
# it switches between integrated (Intel) and discrete (NVIDIA) GPU.
# Pick whatever makes it run faster.
export MESA_D3D12_DEFAULT_ADAPTER_NAME=NVIDIA
# launch the simulation
ros2 launch rtt_simulation simulation.launch.py