Install Directly on Host (Noetic)

DRAFT

Install ROS and Gazebo

Install Dependencies

sudo apt update
sudo apt install -y build-essential cppcheck curl cmake lsb-release git python3-dbg python3-pip python3-venv ruby software-properties-common wget libeigen3-dev pkg-config protobuf-compiler qtbase5-dev libgles2-mesa-dev

Install ROS Noetic

• Install ROS Noetic per https://wiki.ros.org/noetic/Installation/Ubuntu. Specifically:

  Install sources list, keys, ROS Noetic, initialize rosdep:

  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-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  sudo apt update
  sudo apt install ros-noetic-desktop-full
  sudo apt install ros-noetic-velodyne-gazebo-plugins python3-rosdep
  sudo rosdep init
  rosdep update
  

  and set up .bashrc for working with ROS Noetic:

  source /opt/ros/noetic/setup.bash
  

Install Other ROS Dependencies

DIST=noetic
sudo apt install ros-${DIST}-rqt-robot-plugins ros-${DIST}-effort-controllers ros-${DIST}-joy ros-${DIST}-teleop-twist-joy ros-${DIST}-teleop-twist-keyboard ros-${DIST}-teleop-tools ros-${DIST}-joy-teleop ros-${DIST}-key-teleop ros-${DIST}-geographic-info ros-${DIST}-move-base ros-${DIST}-robot-localization ros-${DIST}-robot-state-publisher ros-${DIST}-xacro ros-${DIST}-rqt ros-${DIST}-rqt-common-plugins ros-${DIST}-hector-gazebo-plugins
sudo apt upgrade libignition-math2

Note that the manipulator arm requires the ros-noetic-effort_controllers and glider requires the ros-noetic-hector-gazebo-plugins

Install Gazebo 11

Option 1: Using script

Install Gazebo 11 per http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install. Specifically:

curl -sSL http://get.gazebosim.org | sh

Without reviewing this script, be careful that you are getting the appropriate version of Gazebo.

Option 2: Step-by-step

It may be safer to use the step-by-step guidance from http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install Note: These instructions are for installing Gazebo 11 on Ubuntu 18 (bionic). They should still work on Ubuntu 20 but some of the output will be slightly different to reflect the fact that you are running on focal.

After you have setup the package repository and keys, here is an example of the Gazebo/ROS packages to install, see https://github.com/bsb808/linux_setup/blob/master/ubuntu/apt_18_gazebo.sh

Gazebo setup

Run Gazebo to verify that it starts:

gazebo

Verify that a supported version of gazebo is installed with

gazebo --version

which should yield something like...

Gazebo multi-robot simulator, version 11.3.0

Graphics Drivers and CUDA

• If using the NVidia graphics card, install the NVidia driver instead of using Ubuntu's default video driver: https://linuxize.com/post/how-to-nvidia-drivers-on-ubuntu-20-04/
• The nps_uw_sensors repository requires CUDA support to compile. The simplest way to install CUDA support on Ubuntu 20 is:

  sudo apt update
  sudo apt install nvidia-cuda-toolkit
  

  • This installs the Nvidia CUDA toolkit from the Ubuntu repository.
  • If you prefer to install the latest version directly from the CUDA repository, instructions are available here: https://linuxconfig.org/how-to-install-cuda-on-ubuntu-20-04-focal-fossa-linux

Install Dave and dependencies from source

Clone the source repositories.

• Follow instructions at this link to clone the source repositories you will work with.

Build

  cd ~/uuv_ws
  catkin_make

Source new setup.bash by typing this:

source ~/uuv_ws/devel/setup.bash

Also, put source ~/uuv_ws/devel/setup.bash in your .bashrc file.

Test your Installation

You may test your installation by running the reference configuration

roslaunch uuv_dave uuv_dave.launch

which should generate a gazebo view similar to this:

More details are discussed at uuv_simulator_reference.