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Source installation#

Prerequisites#

  • OS - Ubuntu 22.04 LTS or macOS Sonoma
  • ROS - ROS 2 Humble
  • Git
  • pip
  • curl
sudo apt update
sudo apt install git curl python3-pip

Set up development environment#

  1. Install CUDA and cuDNN (Optional)

    Please access the NVIDIA website and install CUDA 12.x along with the corresponding cuDNN. Once you can execute nvcc --version the installation is complete.

  2. Install ROS 2

    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 ros-humble-desktop ros-dev-tools
    
  3. rosdep setup

    sudo rosdep init
    rosdep update
    
  4. Install PyTorch and Ultralytics

    python3 -m pip install torch torchvision torchaudio ultralytics
    
  5. Workspace setup

    git clone https://github.com/hakoroboken/roboware-neo.universe.git
    cd roboware-neo.universe
    rosdep install -y --from-paths ./ --ignore-src --skip-keys=OpenCV --skip-keys=PCL --rosdistro humble
    
    6. Compile

    ./compile.sh
    

Additional Component Setup#

  1. Install Foxglove and MCAP.
    sudo apt install ros-humble-foxglove-bridge ros-humble-rosbag2-storage-mcap