Install from source¶

Requirements¶

Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic¶

NOTE:

These are the current recommended requirements. Ubuntu 22.04, ROS 2 Humble, Gazebo Garden instructions are no longer maintained for mbari_wec as Gazebo Garden is EOL.

Follow instructions for Installing Gazebo with ROS.

Install ROS 2 Jazzy

MBARI WEC works best with the cyclonedds rmw implementation, so set that up as follows:
```
sudo apt install ros-jazzy-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
```
Running the sim with rosbag2 logging uses mcap storage. We also need sdformat-urdf. So, install those as well:
```
sudo apt install ros-jazzy-rosbag2-storage-mcap ros-jazzy-sdformat-urdf
```
To use plotjuggler to view ros2 data live plots (recommended in these tutorials), install like so:
```
sudo apt install ros-jazzy-plotjuggler ros-jazzy-plotjuggler-msgs ros-jazzy-plotjuggler-ros
```
Install Gazebo Harmonic by installing ros_gz from the ros-jazzy-* apt repos.
```
sudo apt update
sudo apt install ros-jazzy-ros-gz
```
When using Gazebo Harmonic and ROS 2 Jazzy together, Gazebo packages (gz-*) now come from ROS 2 Jazzy apt repos (ros-jazzy-gz-*). We also need to use the sdformat-urdf package. See here for more info.
Set the Gazebo version to Harmonic. (place this in ~/.bashrc for convenience if rebuilding often):
```
export GZ_VERSION=harmonic
```
gz-python-bindings

Python bindings for gz.math and gz.sim are used in mbari_wec but are not distributed via apt or pip. This repository, gz-python-bindings builds the python bindings and packages them up in a simple PyPI index url for an easy pip install.
1. Ensure these packages are also installed
```
sudo apt update
sudo apt install ros-jazzy-gz-sim-vendor ros-jazzy-gz-math-vendor
```
1. pip install
  
  NOTE: --break-system-packages might sound scary, but don't be alarmed -- nothing bad will happen in this case
```
python3 -m pip install -i https://mbari-org.github.io/gz-python-bindings/simple gz-python-bindings --break-system-packages
```

Install necessary tools

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

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=1.4.0

Buoy Simulation Software Build¶

Create a workspace, for example:

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

Clone all source repos with the help of vcstool:

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

Install ROS dependencies

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

Build and install

source /opt/ros/jazzy/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¶

In a new terminal, source the workspace
```
. ~/mbari_wec_ws/install/setup.bash
```
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

Launch the simulation

ros2 launch buoy_gazebo mbari_wec.launch.py

Post-Build Environment Setup¶

Place these lines in your ~/.bashrc for convenience to simplify running the sim in the future:

```
source /opt/ros/jazzy/setup.bash
source /path/to/mbari_wec_ws/install/setup.bash
export GZ_VERSION=harmonic
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export SDF_PATH=$GZ_SIM_RESOURCE_PATH
```

(NOTE: Remember to replace /path/to/mbari_wec_ws/install/setup.bash with your path to your mbari wec workspace)