Welcome to REO2, the REO ROS2 Workspace

Getting Started

Initial Setup

Ubuntu Installation

• Recommended: Fresh install of Ubuntu 22.0.4 (newer versions should also work).
• Opt for a minimal install.
• Ensure a wired internet connection for driver updates.

System Update and Tools Installation

sudo apt update -y
sudo apt upgrade -y
sudo apt install snapd -y
sudo apt install git -y

Git Configuration

CURRENT_DIR=$(pwd)

# Install and compile libsecret
sudo apt update
sudo apt-get install libsecret-1-0 libsecret-1-dev git make gcc -y
cd /usr/share/doc/git/contrib/credential/libsecret
sudo make
git config --global credential.helper /usr/share/doc/git/contrib/credential/libsecret/git-credential-libsecret
cd $CURRENT_DIR

Development Tools Installation

Visual Studio Code

sudo snap install --classic code 

• Note: VS Code is recommended for uniformity and its unique features.

Foxglove Studio

sudo snap install foxglove-studio

• Used for visualizing robot data, an alternative to RViz.

Docker Installation

# Add Docker's official GPG key
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg -y
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg

# Add Docker repository
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

# Install Docker
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y

# Change Docker root folder
cd
mkdir docker
cd && sudo tee /etc/docker/daemon.json > /dev/null <<EOT
{
    "data-root": "/home/rlab/docker",
    "runtimes": {
        "nvidia": {
            "args": [],
            "path": "nvidia-container-runtime"
        }
    }
}
EOT

Docker Configuration and Workspace Cloning

sudo usermod -aG docker ${USER}
# Use gituser.sh for Git credential setup

### Restart Your Computer
- After completing the setup and configuration steps, it is necessary to restart your computer to ensure that all changes take effect.

# Clone the workspace
cd
git clone https://github.com/psaucedoa/reo-public-ws
# Optionally rename the workspace folder

Setting Up the Workspace in VS Code

1. Open the workspace in VS Code (code "WORKSPACE NAME").
2. Enable autosave: File -> Autosave.
3. Set up a keyboard shortcut for tasks: Ctrl+K -> Ctrl+S -> Search for 4. 4. "Tasks: Run Task" -> Assign Ctrl+;.

# Create bag folder
cd
mkdir bag_files

Building the Docker Workspace Container

• Select "Open in container" in the bottom left.
• Run the "setup" task using the new shortcut (Ctrl + ;) to pull all packages.
• Build the workspace with the "build" task.

Generate Documentation

• Run the "generate-workspace-documentation" task using the new shortcut (Ctrl + ;) to pull all packages.

Accessing Documentation

firefox vscode-container-workspace/docs/built/index.html

Intro to Docker Uses

Key Binding

you will want to add key bindings to make running tasks easier. Within VSCode, if you haven't already, go to hot keys, and search for the run task command. assign ctrl+; to run task.

Setup

You will need to set up the workspace. This is adding in the code that isn't already installed to the docker environment. This is run with ctrl+; -> search "setup"

The setup.sh script is run and imports all of the repos from the repos folder. If you want to get more repos in there, add them into those folders.

Build

This builds it. ctrl+; -> search "build" This may take a hot second. breathe.

Add Submodules

Need to add submodules when you first launch the container or add a new repo to the .repos. Here, you will need to do ctrl+; -> then type "add submodules from repos". After that, you will need to restart VSCode