ROS Installation - uic-evl/DOE_DigitalTwin GitHub Wiki
Currently, all of our robots and many of our sensors are compatible with the Robotic Operating System, and integrating our Digital Twin efforts with ROS/ROS2 may prove useful (maybe necessary) for future functionality.
If you are using Windows 10 or Linux, you can install ROS2 directly to you machine. Follow this guide for Windows 10, and this guide for Linux.
If you are using Windows 11, you will need to run ROS2 within WSL. If you are using WSL/Win11, you will not be able to connect to external hardware, such as the Create3s, over a network. Simulation and connection to Unity, however, will still work fine.
Steps to install on Ubuntu (including WSL):
- If you need it, install Ubuntu 22 through WSL. You should be able to do this in the Windows store
- Install ROS2 Humble following this guide.
- Make sure you get the desktop installation AND the dev tools:
sudo apt install ros-humble-desktopsudo apt install ros-dev-tools
- Make sure you get the desktop installation AND the dev tools:
- To make using ROS2 a bit easier, you can run
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrcso that the ROS2 environment is sourced automatically when your shell starts. - (Optional but recommended) Install Xming X server so that you can launch GUI applications from WSL. ROS2 has several handy GUI features, and the Create3 Robot makes use of these for some simulation tools.
Once you have ROS2, I recommend following their turtlesim tutorial, as it gives a good overview of ROS2 terms that will be relevant to this project. TLDR: ROS2 is a system where a bunch of distributed scripts called nodes share data by publishing/subscribing to topics. These scripts can be written in C++ or Python.
Tips on how to running ROS 2 in Win11:
- To run ROS 2 in Win11 open a command terminal as an administrator and type "wsl" and this will start the virtual machine.