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ROS 2 Workstation Setup

Purpose

Document the baseline workstation setup for developing and testing ShadowHound ROS 2 packages.

Prerequisites

  • Ubuntu 22.04 LTS with sudo privileges.
  • Stable internet connection for dependency installation.
  • Access to GitHub credentials for cloning private repositories.

Steps

  1. Install ROS 2 Humble bash sudo apt update && sudo apt install -y curl gnupg2 lsb-release sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | \ gpg --dearmor -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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list sudo apt update && sudo apt install -y ros-humble-desktop python3-rosdep sudo rosdep init || true rosdep update
  2. Configure Workspace Utilities bash echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc mkdir -p ~/shadowhound_ws/src cd ~/shadowhound_ws git clone https://github.com/shadowhound-robotics/shadowhound.git src/shadowhound
  3. Install Project Dependencies bash cd ~/shadowhound_ws/src/shadowhound rosdep install --from-paths src --ignore-src -r -y pip install -r requirements.txt || true
  4. Build and Validate bash cd ~/shadowhound_ws colcon build --symlink-install source install/setup.bash ros2 pkg list | grep shadowhound

Validation

  • [ ] colcon build completes without errors.
  • [ ] ros2 pkg list shows ShadowHound packages.
  • [ ] Obsidian vault opens and docs render as expected.

References