Install from source

Requirements

Use Ubuntu 22.04.

1. Install ROS 2 Humble MBARI WEC is tested against the cyclonedds rmw implementation, so set that up as follows:

   sudo apt install -y ros-humble-rmw-cyclonedds-cpp
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   

2. Install Gazebo Garden

3. Install necessary tools

   sudo apt install python3-vcstool python3-colcon-common-extensions python3-pip git wget
   

4. Install necessary libraries

   curl -s --compressed "https://hamilton8415.github.io/ppa/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/ppa.gpg >/dev/null
   sudo curl -s --compressed -o /etc/apt/sources.list.d/my_list_file.list "https://hamilton8415.github.io/ppa/my_list_file.list"
   sudo apt update
   sudo apt install libfshydrodynamics=1.3.1
   

Buoy Simulation Software Build

1. Create a workspace, for example:

   mkdir -p ~/mbari_wec_ws/src
   cd ~/mbari_wec_ws/src
   

2. Clone all source repos with the help of vcstool:

   wget https://raw.githubusercontent.com/osrf/mbari_wec/main/mbari_wec_all.yaml
   vcs import < mbari_wec_all.yaml
   cd ~/mbari_wec_ws
   

3. Set the Gazebo version to Garden. This is needed because we're not using an official ROS + Gazebo combination (place this in ~/.bashrc for convenience if rebuilding often):

   export GZ_VERSION=garden
   

4. Install ROS dependencies

   sudo pip3 install -U rosdep
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y -i
   

5. Build and install

   source /opt/ros/humble/setup.bash
   cd ~/mbari_wec_ws
   colcon build
   

The simulation software should build without errors. To run and test, proceed to the Run the Simulator tutorial series. Or run a quick test as described below to confirm all has worked as expected.

Run an example to test

1. In a new terminal, source the workspace

   . ~/mbari_wec_ws/install/setup.bash
   

2. Set SDF_PATH to allow robot_state_publisher parse the robot description from the sdformat model (place this in ~/.bashrc for convenience if rebuilding often):

   export SDF_PATH=$GZ_SIM_RESOURCE_PATH
   

3. Launch the simulation

   ros2 launch buoy_gazebo mbari_wec.launch.py