Source-based installation

Currently source-based installation is provided. First of all open a terminal and create an empty workspace:

• mkdir ~/ari_public_ws
  cd ~/ari_public_ws

Download the file ari_public-noetic.rosinstall. Copy the rosinstall file in ~/ari_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

• rosinstall src /opt/ros/noetic ari_public-noetic.rosinstall

Set up rosdep

• sudo rosdep init
  rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

• rosdep install --from-paths src --ignore-src --rosdistro noetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3 librealsense2-dev librealsense2-dkms hey5_transmissions ydlidar_ros_driver python-pyside orocos_kdl" -y -r

A few packages might be missing, but this won't impact the simulation.

Then, you may proceed building the workspace:

• source /opt/ros/noetic/setup.bash
  catkin build -DCATKIN_ENABLE_TESTING=0

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

Testing the installation

First of all open a console and source the workspace:

• source ./devel/setup.bash

To launch ARI, execute:

• roslaunch ari_gazebo ari_gazebo.launch public_sim:=true

If you managed to launch the simulation then the installation has been successful. If you have rendering problems please update your graphics driver.