Documentation

Topic	Link
Getting Started	Getting Started
Using the Simulator	Using the Simulator
Using Vehicles	Using Vehicles
Using Walkers	Using Walkers
Sensors	Sensors
Setupping sensors	Setupping sensor
Creating own levels	Creating own levels
Building from source on Linux	Building on Linux
Building from source on Windows	Building on Windows
Installing on Linux	Installing on Linux
Installing on Windows	Installing on Windows

Download latest AGRARSENSE build

Download latest Simulator build

Navigate to AGRARSENSE Azure Artifact page

Click "1 published" link

Screenshot

This leads to Azure Artifact storage page where you can now download the latest build.

Screenshot

When AgrarsenseBuild.zip has been downloaded, unzip it to any location where you have enough space.
Launch the Simulator by opening Terminal at unzipped ../AgrarsenseBuild/Linux/ location and type:

./Agrarsense.sh
 
# If you get permission denied error
chmod +x Agrarsense.sh

To communicate between the Simulator and ROS, you need to install ROS with below instructions. If you are just testing the Simulator, ROS is not required to run the Simulator.

ROS1 and ROS2

ROS noetic is required for the project to be able to communicate between Unreal Engine and ROS. The simulator supports ROS2 via ROS1 to ROS2 bridge.

ROS noetic is only offically supported on Ubuntu 18.04 and 20.04. Ubuntu 22.04 doesn't offically support ROS noetic.

AGRARSENSE Unreal project will work without a ROS installation but you cannot get or send any data to or from the simulator.

Install ROS noetic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-noetic-desktop-full -y

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc
Install ROSBridge

https://github.com/code-iai/ROSIntegration states this: >The recommended way to install rosbridge is from source (requires the rosauth package) – Even though you could install rosbridge using apt, there have been numersous issues where these apt packages do not reflect the code in the ros1 branch. Hence, it is best to install from source.
- Install from apt packages
  sudo apt-get install ros-noetic-rosauth
  
  sudo apt-get install ros-noetic-rosbridge-suite
  
  echo "alias ROS1='source /opt/ros/noetic/setup.bash'" >> ~/.bashrc
When launching ROS server, you can either launch it manually from Ubuntu WSL Terminal roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True or in windows terminal wsl -e bash -lic "roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True"

To run python scripts with ROS connection you need to install Python ROS packages: ```sh pip install –extra-index-url https://rospypi.github.io/simple/ rospy pip install –extra-index-url https://rospypi.github.io/simple/ tf2_ros ``` If connection doesn't go through from windows to Ubuntu WSL, you need to set **"ROS_IP"** in command prompt. ```sh set ROS_IP=192.168.x.x ```
When ROS is installed follow this guide to install ROS2 (Foxy). First, you need to install ROS2 without ros1_bridge.

Launch new terminal ``` locale # check for UTF-8

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

locale # verify settings sudo apt install software-properties-common sudo add-apt-repository universe sudo apt update && sudo apt install curl sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 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 sudo apt update && sudo apt install -y \ libbullet-dev \ python3-pip \ python3-pytest-cov \ ros-dev-tools

install some pip packages needed for testing

python3 -m pip install -U \ argcomplete \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-docstrings \ flake8-import-order \ flake8-quotes \ pytest-repeat \ pytest-rerunfailures \ pytest

install Fast-RTPS dependencies

sudo apt install –no-install-recommends -y \ libasio-dev \ libtinyxml2-dev

install Cyclone DDS dependencies

sudo apt install –no-install-recommends -y \ libcunit1-dev mkdir -p ~/ros2_foxy/src cd ~/ros2_foxy vcs import –input https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos src sudo apt upgrade sudo rosdep init rosdep update rosdep install –from-paths src –ignore-src -y –skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers" cd ~/ros2_foxy/ colcon build –symlink-install –packages-skip ros1_bridge

5. After ROS2 is build from source (without ros1_bridge)

You need to 'source' both ROS1 and ROS2.

source /opt/ros/noetic/setup.bash source ~/ros2_foxy/install/setup.bash

Then build only ros1_bridge

cd ~/ros2_foxy/ colcon build –symlink-install –packages-select ros1_bridge –cmake-force-configure

>NOTE: To use ROS1 rosbridge_server, you shouldn't add both ROS1 and ROS2 to ~.bashrc, since it mixes the packages. Instead, use ROS1 as intended and source ROS2 `ONLY` when needed

echo "alias ROS2='source ~/ros2_foxy/install/setup.bash'" >> ~/.bashrc ``` By typing ROS2 in terminal, it sources the ROS2 bash file and removes ROS2 alias

Custom Messages On ROS

Clone messages from github
git clone https://AMKFrostBit@dev.azure.com/AMKFrostBit/AGRARSENSE/_git/AGRARSENSE_ROS_Messages
Build ROS1 messages

Type "ROS1" to launch ros2 build bash. (Alias made earlier in .bashrc)
ROS1

cd ~/AGRARSENSE_ROS_Messages/ros1ws/

catkin_make

when the ROS1 build is finished close the wsl windows
Open New Terminal

Type "ROS2" to launch ros2 build bash. (Alias made earlier in .bashrc)
ROS2

cd ~/AGRARSENSE_ROS_Messages/ros2ws/

colcon build
- when the ROS2 build is finished close the wsl windows
Rebuild ROS1_Bridge again
1. Launch new Terminal
2. Source both ROS1 and ROS2 and both workspaces: ~~~ ROS1 && ROS2 source ~/AGRARSENSE_ROS_Messages/ros1ws/devel/setup.bash source ~/AGRARSENSE_ROS_Messages/ros2ws/install/setup.bash ~~~
3. Next navigate to ros2_foxy directory and rebuild bridge ~~~ cd ~/ros2_foxy/ colcon build –packages-select ros1_bridge –cmake-force-configure ~~~
4. After the bridge has successfully built
  
  ~~~ echo "'source ~/AGRARSENSE_ROS_Messages/ros1ws/devel/setup.bash'" >> ~/.bashrc ~~~

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