INSTALLATION.md

Installation Guide

Getting this repository

This repository is intended to be used as a ROS2 colcon workspace itself (i.e. you do not need to create your own colcon workspace, though it is possible to do so).

$ mkdir -p <parent-directory>
$ cd <parent-directory>
$ git clone https://github.com/westonrobot/wr_devkit_navigation.git

Install Dependencies

Each sensor kit and robot base has its own set of dependencies. Please follow the instructions below to install the necessary items for your specific hardware configuration.

Common Dependencies

The following dependencies are common to multiple sensor kits and robot bases and should be installed regardless of the specific hardware configuration.

• Weston Robot Platform SDK

  $ sudo install -m 0755 -d /etc/apt/keyrings
  $ curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --dearmor -o /etc/apt/keyrings/weston-robot.gpg
  $ sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg
  
  $ echo \
      "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
      sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
  
  $ sudo apt-get update
  $ sudo apt-get install wrp-sdk
  
  # Install drivers/dependencies for peripherals
  $ sudo apt-get install -y software-properties-common 
  $ sudo add-apt-repository ppa:lely/ppa
  $ sudo apt-get update
  $ sudo apt-get install liblely-coapp-dev liblely-co-tools python3-dcf-tools pkg-config

  Please refer to this page for more details of the installation steps.
  Documentation for the Weston Robot Platform SDK can be found here.

Sensor Kits Dependencies

The following dependencies are specific to each sensor kit and should be installed according to the specific hardware configuration.

Livox Mid360 Lidar + IMU Sensor Kit

• Livox SDK2

  $ cd ~
  $ git clone https://github.com/Livox-SDK/Livox-SDK2.git
  $ cd Livox-SDK2
  $ mkdir build && cd build && cmake .. && make
  $ sudo make install

  Note: You can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation.

Robot Bases Dependencies

The following dependencies are specific to each robot base and should be installed according to the specific hardware configuration.

Ranger Mini 2.0 & Scout Mini

• ugv_sdk dependencies

  sudo apt-get install build-essential git cmake libasio-dev

ROS Driver Packages

All ROS driver packages are listed in the navigation.repos file. You can import the ROS driver packages by running the following command:

$ vcs import --recursive src < ./navigation.repository

Note: You might not need to build all the driver packages. You can comment out the packages you do not need in the navigation.repos file. Refer to the table below for the ROS driver packages for each sensor kit and robot base.

Component	ROS Driver Packages Needed
Livox Mid360 Lidar + IMU Sensor Kit	livox_ros_driver2 wrp_ros2
Vision Sensor Kit	realsense-ros usb_cam
W200d Sensor Kit	wrp_ros2
Ranger Mini 2.0	ranger_ros2 ugv_sdk
Scout Mini	scout_ros2 ugv_sdk

Build the Workspace

After installing the dependencies, you can build the workspace by running the following commands:

$ cd <parent-directory>/wr_devkit_navigation
$ source /opt/ros/humble/setup.bash
$ colcon build --symlink-install