Environment Configuration Recommendation

Recommended to set up on Ubuntu 22.04.4 LTS with ros2-humble.

The official ros2_control package must be installed before formally compiling the duco package.

ROS2 Basic Installation

The following details the process for ROS2 (humble):

1. Open shell window

locale  # check for UTF-8

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

locale  # verify settings

2. Set up sources

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. Install ROS2

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

4. Finally install dev tools

sudo apt install ros-dev-tools

The following details the installation process for ros2_control:

1. First source ROS2 resources

source /opt/ros/humble/setup.bash

2. Create ros2_control workspace and download resources

mkdir -p ~/ros2_control_ws/
cd ~/ros2_control_ws/

After creation, place the duco src files in this directory.

Then begin downloading resources:

wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/ros_controls.humble.repos
vcs import src < ros_controls.humble.repos

If network issues occur, switch software sources and retry:

# Set software sources
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list'

# Add key
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F42ED6FBAB17C654
sudo apt update

rosdep

Install dependencies:

sudo rosdep init
rosdep update --rosdistro=$ROS_DISTRO
sudo apt-get update
rosdep install --from-paths src --ignore-src -r -y

Compile ros2_control:

. /opt/ros/humble/setup.sh

Supplementary colcon Installation

If colcon is missing, install it. If not missing, proceed to Moveit installation.

# Install required components
sudo apt update
sudo apt install python3-colcon-common-extensions

# Ensure pip version is installed (system-wide)
pip3 install --upgrade colcon-common-extensions

Moveit

Install complete MoveIt suite (for Humble)

sudo apt install ros-humble-moveit ros-humble-moveit-ros-planning-interface

Verify installation:

ros2 pkg prefix moveit_ros_planning_interface

Environment Configuration Packages

Install test-msgs package:

sudo apt install ros-humble-test-msgs

Install control-toolbox:

sudo apt install ros-humble-filters ros-humble-control-toolbox

colcon build --symlink-install --packages-select control_toolbox
source install/setup.bash

colcon build --symlink-install --packages-up-to hardware_interface

Install ackermann-msgs package:

# Official ROS 2 ackermann-msgs package
sudo apt install ros-humble-ackermann-msgs

# Verify installation
ros2 pkg list | grep ackermann_msgs

After completion, reset environment:

# Reset environment variables
unset AMENT_PREFIX_PATH
unset CMAKE_PREFIX_PATH

# Set basic ROS environment
source /opt/ros/humble/setup.bash

# Manually specify ackermann_msgs path
export ackermann_msgs_DIR=~/ackermann_ws/install/ackermann_msgs/share/ackermann_msgs/cmake

Perform final compilation:

cd ~/ros2_control_ws

# 1. Clean all build files
rm -rf build install log

# 2. First compile message packages separately
colcon build --symlink-install --packages-select duco_msg

# 3. Load system ROS and newly compiled message package environment
source /opt/ros/humble/setup.bash
source install/setup.bash  # Key: load newly compiled duco_msg

# 4. Compile all other packages (allow overriding necessary messages)
colcon build --symlink-install --allow-overriding ackermann_msgs,control_msgs