Source-based installation

Currently source-based installation is provided.

First of all open a terminal and create an empty workspace:

• mkdir ~/pmb2_public_ws
  cd ~/pmb2_public_ws

Then run the following instruction in order to download common_public-melodic.rosinstall, pmb2_public-melodic.rosinstall and to clone all the required repositories within the workspace:

• wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/melodic-devel/common_public-melodic.rosinstall
  wget https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/melodic-devel/pmb2_public-melodic.rosinstall
  rosinstall src /opt/ros/melodic common_public-melodic.rosinstall
  rosinstall src /opt/ros/melodic pmb2_public-melodic.rosinstall

Then run this command to make sure that all dependencies are installed.

• 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 -y --from-paths src --ignore-src --rosdistro melodic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox pal_loc_measure pal_map_manager"

Then, you may proceed building the workspace:

• source /opt/ros/melodic/setup.bash
  catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)

Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.