purdue_lunabotics

This is the official ROS 2 git repo of the Purdue Lunabotics software team.

Supported Platforms

• Ubuntu 22.04
• Windows and Mac:
  • Ubuntu 22.04 is the only fully supported platform. There are a few ways to run a virtual machine with linux on it.
    • Windows: WSL2 (caveat: strange interactions with GPUs may make GUIs stutter)
    • Dual boot linux (caveat: can be hard to set up, not recommended for beginners)
    • Docker containers (caveat: not tested)

Getting started

One Line Install:

Run the following command to install everything (Must be in Ubuntu 22.04)

wget -c https://raw.githubusercontent.com/PurdueLunabotics/purdue_lunabotics/refs/heads/develop/install.sh && chmod +x ./install.sh && ./install.sh

1. Install Ubuntu 22.04

2. Install ROS 2:

Follow this Installation Guide directly. For convenience, the steps are also here:

Ensure Ubuntu Universe repository is enabled.

sudo apt install software-properties-common
sudo add-apt-repository universe

Now add the ROS 2 GPG key with apt.

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

Then add the repository to your sources list.

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

Update apt.

sudo apt update
sudo apt upgrade

Install Ros and Dev tools.

sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

Setup your ros environment:

source /opt/ros/humble/setup.bash

It is also recommended to put this line in your .bashrc file, so that it runs every time you start a terminal.

3. Set up workspace

Install colcon, the build system

sudo apt install python3-colcon-common-extensions

Make a workspace directory with a src directory in it. This can be named anything. For example,

mkdir -p luna_ws/src

Clone the repository in the src folder.

cd ~/luna_ws/src
git clone --recurse-submodules https://github.com/PurdueLunabotics/purdue_lunabotics.git

Install dependencies at the root of your workspace

cd ~/luna_ws
rosdep install -i --from-path src --rosdistro humble -y

Install other dependencies

sudo apt install ros-humble-gz-ros2-control ros-humble-joint-state-publisher ament-cmake-python ament-cmake curl lsb-release gnupg

Install Gazebo Harmonic

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic ros-humble-ros-gzharmonic

Build + Source Manually

cd ~/luna_ws
colcon build
source ~/luna_ws/install/setup.bash # or .zsh if you use a zsh terminal

OR use script

cd ~/luna_ws/src/purdue_lunabotics
source build.sh

Note: Build + source every time you change anything or open a new terminal. If building manually, make sure to do it within the correct folder

Testing your setup

1. Run the sim

ros2 launch lunabot_bringup sim.launch

you should see two new windows pop up: once called gazebo and one called rviz

2. Set goal waypoint in rviz and watch the robot navigate

Important docs to read

• contributing guidelines
• running_the_robot
• firmware setup
• simulated arena docs