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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,51 +1,96 @@ | ||
| # Build Instructions | ||
|
|
||
| This setup instruction is based on ROS 2 humble. | ||
| These setup instructions guide you through the process of building **Scenario Simulator v2**, which currently supports **ROS 2 Humble Hawksbill**. | ||
|
|
||
| ## Setup ROS 2 environment | ||
|
|
||
| This framework only supports ROS 2 Galactic Geochelone now. (We are planning to support ROS 2 Humble Hawksbill) | ||
| You can install Galactic by executing the command below in your terminal. | ||
| 1. Configure the locale. | ||
| Ensure that your system is configured with a locale that supports UTF-8. | ||
|
|
||
| ```bash | ||
| sudo apt update && sudo apt install locales | ||
| sudo locale-gen en_US en_US.UTF-8 | ||
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | ||
| export LANG=en_US.UTF-8 | ||
| ``` | ||
|
|
||
| Verify that the locale is properly set: | ||
| ```bash | ||
| locale | ||
| ``` | ||
|  | ||
| <br>*The expected result after running the `locale` command should look like this, with `LANG` set to `en_US.UTF-8` by default.* | ||
|
|
||
| 3. Enable the Ubuntu Universe repository. | ||
| ```bash | ||
| sudo apt install software-properties-common | ||
| sudo add-apt-repository universe | ||
| ``` | ||
|
|
||
| 4. Add the ROS 2 GPG key. | ||
| ```bash | ||
| sudo apt update && sudo apt install curl -y | ||
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | ||
| ``` | ||
|
|
||
| 5. Add the ROS 2 repository to the system's package sources list. | ||
| ```bash | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | ||
| ``` | ||
| 6. Install ROS 2 Humble Desktop. | ||
| ```bash | ||
| sudo apt update | ||
| sudo apt install ros-humble-desktop | ||
| ``` | ||
| 7. Install development tools. | ||
| ```bash | ||
| sudo apt install ros-dev-tools | ||
| ``` | ||
| !!! info | ||
| For more detailed information, refer to the [ROS 2 Humble Installation Guide](https://docs.ros.org/en/humble/Installation.html). | ||
| ```bash | ||
| sudo apt update | ||
| sudo apt install locales | ||
| sudo locale-gen en_US en_US.UTF-8 | ||
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | ||
| export LANG=en_US.UTF-8 | ||
| sudo apt update | ||
| sudo apt install curl gnupg2 lsb-release | ||
| curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - | ||
| sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' | ||
| sudo apt update | ||
| sudo apt install ros-humble-desktop | ||
| source /opt/ros/humble/setup.bash | ||
| sudo apt install -y python3-pip python3-rosdep2 python3-vcstool python3-colcon-common-extensions | ||
| rosdep update | ||
| ``` | ||
| reference : <https://docs.ros.org/en/humble/Installation.html> | ||
| ## Setup workspace | ||
| ```bash | ||
| mkdir -p ~/scenario_simulator_ws/src | ||
| cd ~/scenario_simulator_ws/src | ||
| git clone https://github.com/tier4/scenario_simulator_v2.git | ||
| # These lines are necessary right now, but it will be removed in the near future | ||
| cd scenario_simulator_v2 | ||
| # This script clones the part of the source codes in Autoware and add it to the workspace | ||
| vcs import external < dependency_humble.repos | ||
| ``` | ||
| 1. Create the workspace directory. | ||
| ```bash | ||
| mkdir -p ~/scenario_simulator_ws/src | ||
| cd ~/scenario_simulator_ws/src | ||
| ``` | ||
| 2. Clone the Scenario Simulator repository. | ||
| ```bash | ||
| git clone https://github.com/tier4/scenario_simulator_v2.git | ||
| cd scenario_simulator_v2 | ||
| ``` | ||
| 3. Import Autoware dependencies. | ||
| ```bash | ||
| vcs import external < dependency_humble.repos | ||
| ``` | ||
| ## Install dependencies via rosdep | ||
| ```bash | ||
| cd ~/scenario_simulator_ws | ||
| source /opt/ros/humble/setup.bash | ||
| rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble | ||
| ``` | ||
| 1. Move to the workspace directory. | ||
| ```bash | ||
| cd ~/scenario_simulator_ws | ||
| ``` | ||
| ## Build scenario_simulator_v2 | ||
| 2. Source the ROS 2 environment. | ||
| ```bash | ||
| source /opt/ros/humble/setup.bash | ||
| ``` | ||
| 3. Install all required dependencies. | ||
| ```bash | ||
| rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble | ||
| ``` | ||
| ## Build scenario_simulator_v2 | ||
| To build **Scenario Simulator v2**, run this command: | ||
| ```bash | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | ||
| ``` | ||
|  | ||
| *As a result of running the `colcon build` command, all packages should be built successfully.* |
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