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Environment configuration in Linux

Simply enter the commands in the Linux terminal (Ctrl + Alt + T)

ROS 2 Humble Install

Configure locale

sudo apt update && sudo apt install locales\
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8\
export LANG=en_US.UTF-8

Install tools

sudo apt install software-properties-common\
sudo add-apt-repository universe\
sudo apt update && sudo apt install curl -y

Add ROS 2 repository

export ROS_APT_SOURCE_VERSION=\$(curl -s
https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest
\| grep -F 'tag_name' \| awk -F\" '{print \$4}')

curl -L -o /tmp/ros2-apt-source.deb
https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.\$(.
/etc/os-release && echo
${UBUNTU_CODENAME:-${VERSION_CODENAME}})\_all.deb

sudo dpkg -i /tmp/ros2-apt-source.deb

Install ROS 2

sudo apt update\
sudo apt upgrade\
sudo apt install ros-humble-desktop

Source ROS 2

source /opt/ros/humble/setup.bash

Additional Packages

Navigation

sudo apt install ros-$ROS_DISTRO-navigation2
sudo apt install ros-$ROS_DISTRO-nav2-bringup

Development tools

sudo apt install git\
sudo apt install python3-colcon-common-extensions\
sudo apt install python3-rosdep2

Mapping (MOLA)

sudo apt install ros-$ROS_DISTRO-mola
sudo apt install ros-$ROS_DISTRO-mola-state-estimation\
sudo apt install ros-\$ROS_DISTRO-mola-lidar-odometry

Simulation and control

sudo apt install gazebo\
sudo apt install ros-${ROS_DISTRO}-turtlebot3-navigation2
sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard

src configuration

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone git clone https://github.com/cyberbotics/webots_ros2.git
git clone https://github.com/MRPT/mvsim.git --recursive
git clone -b humble-devel https://github.com/ouster-lidar/ouster-ros.git
cd webots_ros2
git submodule update --init --recursive
cd ..
cd mvsim
git submodule update --init --recursive
cd ../..
rosdep update
rosdep install --from-paths src -y --ignore-src
colcon build
echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc

A Benchmark for Mobile Robots for Mediterranean Greenhouse 🌱

If you are configuring the control benchmark for greenhouses, please return to the official repository and follow all the explained steps to install it on this virtual machine.