Installation on the PC

1. Install ROS Humble

2. Create a workspace and clone our repository. For better readability we created the workspace in this guide within the home directory and named the workspace ros2_ws. But feel free to choose another directory and workspace name.

   mkdir ~/ros2_ws/src
   cd ~ros2_ws/src
   git clone https://github.com/Helbling-Technik/HelMoRo-software-ROS2.git
   

3. Install dependencies

   cd ~/ros2_ws
   sudo apt-get update
   rosdep install --from-path src -yi
   

4. Source ROS and build the HelMoRo software package

   source /opt/ros/humble/setup.bash
   cd ~/ros2_ws
   colcon build --symlink-install
   

5. Your folder structure should now look like this

   ~/ros2_ws
   ├── build
   ├── install
   ├── log
   └── src
       └── HelMoRo-software-ROS2
   

Installation on the robot

1. Install ROS Humble

2. Create a workspace and clone our repository. For better readability we created the workspace in this guide within the home directory and named the workspace ros2_ws. But feel free to choose another directory and workspace name.

   mkdir ~/ros2_ws/src
   cd ~ros2_ws/src
   git clone https://github.com/Helbling-Technik/HelMoRo-software-ROS2.git
   

3. Clone the repo for communication with the lidar, IMU and camera

   git clone https://github.com/flynneva/bno055.git
   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git
   git clone https://github.com/Helbling-Technik/HelMoRo_OrbbecSDK_ROS2.git
   

4. Install dependencies

   cd ~/ros2_ws
   sudo apt-get update
   rosdep install --from-path src -yi
   

5. Your folder structure should now look like this

   ~/ros2_ws
   ├── build
   ├── install
   ├── log
   └── src
       ├── bno055
       ├── HelMoRo_OrbbecSDK_ROS2
       ├── HelMoRo-software-ROS2
       └── rplidar_ros