[ROS]run DR robot in ROS - installing note2
Installation history to run DR robot in ROS
Feb 22, 2024
DR source required
ros-noetic && Ubuntu 20.04 version
ros2-foxy&& Ubuntu 20.04 version
ROS-related files and other pre-run checksโ
Installing ROS netoic in Ubuntu20.04 Environment with Window 10 โ WSL1(2)Update of graphics tools is required to run Rviz, gazebo, etcWSL2 ActivationYou need to download the Linux kernel package when it's WSL2.Enable to run Ubuntu version list in WSLError - Turned off as soon as rviz turns onInstall the following X-server program because the Rivz gaezo GUI is not visible in WSLRun ROSCORE!๐จ๐ปโ๐ป Result๐ Reference
ROS-related files and other pre-run checks
apt upgrade โ Avoid using the ROS version because it is fixedapt update updates the list of packages to the latest, and apt upgrade upgrades the packages currently installed on your system to the latest version. It is usually a good habit of managing packages to perform an upgrade after an update.source ~/catkin_ws/devel/setup.bash โ The source ~/catkin_ws/devel/setup.bash command is used to execute the contents of the setup.bash script in your ROS workspace (catkin_ws). This command is typically run in your terminal to set up the environment variables and paths required for ROS to work with the packages and executables in your workspace.roscore โ Start ros packageโ Installing ROS netoic in Ubuntu20.04 Environment with Window 10 โ WSL1(2)
Finally this method can run DR source in ROS
I tried installing ROS through Windows WSL.
Update of graphics tools is required to run Rviz, gazebo, etc
Install for each GPU company
After downloading, installing and rebooting
WSL2 Activation
WSL1 is enabled by default on Windows, which is set to enable WSL2
Open Windows PowerShell as administrator and type the command below
>> dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart >> dism.exe /online /enable-feature /featurename:VirtualMachinePlatform /all /norestart
Enable WSL2 by default
>> wsl --set-default-version 2
You need to download the Linux kernel package when it's WSL2.
WslRegisterDistribution failed with error: 0x800701bc โ Install when the following error message occurs during installation
โข WSL2 Linux kernel update package for x64 machines์ค์น ๊ฐ๋ฅํ ๋ฒ์ ํ์ธ
Additionally
- Hyper-V (I donโt know why but this function not exist in WIndows11 Home edition)
- Windows Hypervisor Platform
- Virtual machine platform
For your information, "Turn on/off Windows" comes out as soon as you search by pressing Win+S.
Enable to run Ubuntu version list in WSL
wsl -l -o Check the enable the version by use command wsl --unregister <name_version> โ Delete previously deleted Linuxwsl --install -d <name_version>
Open Ubuntu terminal()
Installation from ROS1
You can follow same as โ If your OS is a Ubuntu, pls follow this guideline
After install the ROS,
make a directory
home/<name>/catkin_ws/src### We recommand the /home/<user_home>/catkin_ws/src cd ~/catkin_ws/src git clone https://github.com/doosan-robotics/doosan-robot rosdep install --from-paths doosan-robot --ignore-src --rosdistro noetic -r -y ##### Serial Package source build ### Noetic distro does not support serial package, so you have to install it manually. cd ~/catkin_ws/src git clone https://github.com/wjwwood/serial.git
Setting environmental variables (WSL2 operates without additional modifications)
nano ~/.bashrc and add those commands in very bottom lineexport CATKIN_WS_PATH=~/catkin_ws export ROS_PACKAGE_PATH=$CATKIN_WS_PATH/src/doosan-robot:$ROS_PACKAGE_PATH export DISPLAY_NUMBER="0.0" export LIBGL_ALWAYS_INDIRECT= export DISPLAY=:0 alias noetic="source /opt/ros/noetic/setup.bash"
Installation of the packages required to run (installation takes time)
sudo apt-get install ros-noetic-rqt* ros-noetic-moveit* ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-ros-controllers ros-noetic-ros-control ros-noetic-joint-state-publisher-gui ros-noetic-joint-state-publishersudo apt install python3-pip
catkin_make โ If the command does not work, proceed with the following methodcd /home/<user_name>/catkin_ws/src git clone https://github.com/ros/catkin.git
And then
catkin clean โ catkin build Error - Turned off as soon as rviz turns on
forcing opengl version 0. segmentation fault
kimkh@SotatekKR:~/catkin_ws$ glxgears Segmentation fault kimkh@SotatekKR:~/catkin_ws$ glxinfo | grep 'OpenGL renderer' OpenGL renderer string: D3D12 (Intel(R) Iris(R) Xe Graphics)
Looking at the OpenGL render string sentence, it seemed necessary to install the Intel Graphics Update Tool.
- It worked normally after updating the graphic tool written at the top of the blog.
After build completed,
ROS Preferences:
- Run
setup.bashscript before runroscore
bashCopy code source ~/catkin_ws/devel/setup.bash
Install the following X-server program because the Rivz gaezo GUI is not visible in WSL
If you use WSL2 on Windows 10 Build 19044+ or Windows 11, you can use gui without a separate program like xming.
wsl --update After proceeding, proceeding with the following procedures
Xwindow install
sudo apt-get install x11-apps xfonts-base xfonts-100dpi xfonts-75dpi xfonts-cyrillicRun ROSCORE!
In one terminal run "
roscore" Then, in a new terminal do "rosrun rviz rvizโ
roslaunch dsr_launcher dsr_moveit_gazebo.launch
๐จ๐ปโ๐ป Result
WSL1,2 - Window10
GPU Issueโฆ
WSL2 - Window11
๐ Reference
- DR Open-source
- Installing ROS netoic in Ubuntu20.04 Environment with Window 10 โ WSL1(2)
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