Bare Metal Setup

If you do not want to use a DevContainer, you can try running everything on your installation of Linux itself. Note that this is not the recommended way to develop and mileage may vary.

Installing ROS2

Follow the ROS2 Install guide, and make sure to select the correct version of ROS2. At the time of writing, we are using ROS2 Jazzy, but this may change. You will also want to install the desktop variant of ROS2.

After ROS2 is installed, you’ll want to add an entry into the ~/.bashrc. This will ensure the ros2 command is recognized any time you open a terminal. Type sudo nano ~/.bashrc. Using your arrow keys, navigate until you reach the end of the script. Then, add the following entry: source /opt/ros/jazzy/setup.bash.

If you are on a different version of ROS2, you’ll need to change the jazzy to whatever version in the command.

Finally, install extra ROS2 packages:

sudo apt-get update
sudo apt-get upgrade -y
export ROS_CODENAME=jazzy
sudo apt-get install -y python3 python3-pip ros-dev-tools \
    ros-${ROS_CODENAME}-xacro ros-${ROS_CODENAME}-joint-state-publisher-gui \
    ros-${ROS_CODENAME}-twist-mux ros-${ROS_CODENAME}-twist-stamper \
    ros-${ROS_CODENAME}-ros2-control ros-${ROS_CODENAME}-ros2-controllers \
    ros-${ROS_CODENAME}-ros-gz ros-${ROS_CODENAME}-gz-ros2-control \
    joystick jstest-gtk evtest ros-${ROS_CODENAME}-slam-toolbox libserial-dev \

Cloning the Repository

If comfortable with git and the terminal (recommended), sign into GitHub and type git clone https://github.com/UNL-Lunabotics/terrence_2.0

You may need to use gh and type gh auth login to gain access to cloning into the UNL-Lunabotics organization.

Otherwise, open VSCode and click on “Clone Git Repository”. Sign in with GitHub, and clone the UNL-Lunabotics/terrence_2.0 repo.

Author: Aiden Kimmerling (https://github.com/TheKing349)