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Installation

Binaries

topic_based_ros2_control is currently only released for ROS2 Humble and Rolling. For other ROS2 releases, you may need to build it from source.

    sudo apt-get install ros-$ROS_DISTRO-topic-based-ros2-control

Build from Source

These instructions assume you are running on Ubuntu 22.04:

  1. Install ROS2 humble. You can stop following along with the tutorial after you complete the section titled: Environment setup. Make sure you setup your environment with:

     source /opt/ros/humble/setup.bash

    NOTE: You may want to add that line to your ~/.bashrc

  2. Install ROS2 Build Tools

    NOTE: If installing on a fresh OS, run sudo rosdep init and rosdep update before the install script

  3. Create a colcon workspace (Note: Feel free to change ~/ws_ros2 to whatever absolute path you want):

     export COLCON_WS=~/ws_ros2/
 mkdir -p $COLCON_WS/src

  4. Get the repo and install any dependencies:

     cd $COLCON_WS/src
 git clone git@github.com:PickNikRobotics/topic_based_ros2_control.git

 rosdep install --ignore-src --from-paths . -y

 # Pick a ROS_DOMAIN_ID that doesn't clash with others
 # This one need to be the same value as TopicBased's domain id (0 by default)
 echo 'export ROS_DOMAIN_ID='<YOUR-NUMBER> >> ~/.bashrc

  5. Configure and build the workspace:

     cd $COLCON_WS
 colcon build --symlink-install --event-handlers log-

  6. Source the workspace.

     source $COLCON_WS/install/setup.bash

Note: Whenever you open a new terminal be sure to run source /opt/ros/humble/setup.bash, export COLCON_WS=~/ws_ros2, and source $COLCON_WS/install/setup.bash. You may want to add those commands to your ~/.bashrc