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bare_metal_ubuntu_arm64.md

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Bare Metal Ubuntu Setup (arm64)

Contents

1 Install ROS

  1. Add ROS package repository

    sudo apt update && sudo apt install curl gnupg lsb-release

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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  2. Update APT cache and upgrade system packages

    sudo apt update
sudo apt upgrade

  3. Install core ROS packages, rosdep tool, and colcon build tool

    sudo apt install ros-humble-desktop python3-rosdep2 python3-colcon-common-extensions

2 Clone Training Repositories

  1. Create training workspace directory

    cd ~
mkdir -p training_ws/src

  2. Clone the software_training repo

    cd ~/training_ws/src
git clone https://github.com/RoboJackets/software-training.git

  3. Clone the stsl repo

    cd ~/training_ws/src
git clone https://github.com/RoboJackets/stsl.git

3 Install Gazebo

  1. Install the arm64 version of gazebo

    sudo add-apt-repository ppa:openrobotics/gazebo11-non-amd64

sudo apt update

sudo apt install gazebo

4 Clone ROS Gazebo packages

  1. Clone ros_gazebo_pkgs repository

    cd ~/training_ws/src
git clone --branch=3.7.0 https://github.com/ros-simulation/gazebo_ros_pkgs.git

5 Install ROS dependencies

  1. Initialize rosdep

    sudo rosdep init
rosdep update

  2. Run rosdep

    rosdep install --from-paths . --ignore-src -y

6 Build training workspace

  1. Go to training workspace directory

    cd ~/training_ws

  2. Source ROS system underlay script

    source /opt/ros/humble/setup.bash

  3. Run colcon

    colcon build

    If everything worked, you should see the last line of output look like this (the build time may be different for you):

    Summary: 9 packages finished [1min 46s]