Development Environment - mfkenson/MAEG5755-2021-Team-PARK GitHub Wiki
Ubuntu 20.04, ROS Noetic.
Ubuntu 20.04
ROS Installation
- See dependencies/install_ros.sh in this repo
ROS dependent apt packages
- Extracted the list of ros dependent packages in ros-noetic-packages.txt
- See dependencies/install_dependencies.sh in this repo
Text Editor - Visual Studio Code
sudo snap install code --classic
catkin_make only specifc package
for package name "park_dexnet_bridge"
catkin_make --only-pkg-with-deps park_dexnet_bridge
fallback to make all
catkin_make -DCATKIN_WHITELIST_PACKAGES=""
Nvidia GPU (Optional)
Test if your nvidia driver is properly installed by
nvidia-smi
Example result
nvidia-smi
Fri May 7 11:16:22 2021
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.73.01 Driver Version: 460.73.01 CUDA Version: 11.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 GeForce RTX 208... Off | 00000000:01:00.0 Off | N/A |
| N/A 46C P5 11W / N/A | 509MiB / 7982MiB | 18% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1197 G /usr/lib/xorg/Xorg 306MiB |
| 0 N/A N/A 1522 G /usr/bin/gnome-shell 84MiB |
| 0 N/A N/A 1946 G ...AAAAAAAAA= --shared-files 72MiB |
| 0 N/A N/A 2481 G ...AAAAAAAAA= --shared-files 26MiB |
| 0 N/A N/A 37700 G ..._37173.log --shared-files 16MiB |
+-----------------------------------------------------------------------------+
If your computer has nvidia gpu. Enable it by running
sudo prime-select nvidia
and followed by a reboot. Now your gazebo should run much faster.