Installation

robomaster_ros2 runs on Ubuntu Linux, tested with following configuration:

Ubuntu	Python	ROS 2
22.04	3.10	Humble

Warning

Avoid using a virtual machine if possible: they add additional latency and might cause issues with the network setup.

First Installation

1. If needed, install ROS 2 using the instructions at https://docs.ros.org/en/humble/Installation.html

2. If needed, install gzsim Harmonic using this instruction at https://gazebosim.org/docs/latest/ros_installation/#gazebo-harmonic-with-ros-2-humble-or-rolling-use-with-caution

3. Install dependencies

   pip install pillow myqr pynput
   sudo apt-get install network-manager libopus-dev
   sudo apt install ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-nav-msgs
   

   Optional Installation for video streaming

   pip install git+https://github.com/aarsht7/RoboMaster-SDK.git@libmedia_codec
   

4. Set up ROS 2 workspace

   mkdir -p ros2_ws/src
   cd ros2_ws/src
   git clone https://github.com/L2S-lab/robomaster_ros2.git
   

5. Build ROS 2 workspace

   cd ../
   source /opt/ros/$ROS_DISTRO/setup.bash
   colcon build --symlink-install robomaster_interface robomaster_ros2 robomaster_examples robomaster_gz
   

   Note

   symlink-install allows you to edit Python and config files without running colcon build every time.

   Note

   If you install it for the first time, it will check for some dependencies As long as the build of the package finish, you can ignore any other warnings.