Linux install

Table of Contents

• Documentation
• Download latest AGRARSENSE build
• ROS related installations
  • ROS1 and ROS2
  • Install ROSBridge

Documentation

Topic	Link
Getting Started	Getting Started
Using the Simulator	Using the Simulator
Using Vehicles	Using Vehicles
Using Walkers	Using Walkers
Sensors	Sensors
Creating own maps	Creating own maps
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

1. Download latest Simulator build

Navigate to AGRARSENSE Azure Artifact page

Click "1 published" link

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

1. When AgrarsenseBuild.zip has been downloaded, unzip it to any location where you have enough space.
2. 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.

ROS related installations

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 launch it manually from Ubuntu Terminal:

roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True

To run python scripts with ROS connection you need to install Python ROS packages:

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.

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.

First Launch new terminal and do following:

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

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