Ubuntu installation

In order to run the public simulation of TIAGo ++ it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows

wget http://releases.ubuntu.com/20.04/ubuntu-20.04.5-desktop-amd64.iso

Use this ISO to install a fresh Ubuntu OS on your development computer. Afterwards, you can proceed to install ROS as explained in the next section.

ROS installation

Set up ROS packages sources

In order to install the required ROS packages for running ARan Base's simulation first, as explained in ROS Noetic installation, it is required to include packages.ros.org in the debian sources:

sudo apt update
sudo apt install lsb-release # if you haven't already installed lsb-release
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

The set up the required keys to access the debian sources:

sudo apt install curl gnupg # if you haven't already installed curl or gnupg
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS packages installation

install use the following instruction

sudo apt-get update
sudo apt-get install git wget ipython3 python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3 ros-noetic-actionlib-tools ros-noetic-moveit-commander

Append the following command to ~/.bashrc to allow any console to use the catkin commands

```
source /opt/ros/noetic/setup.bash
```

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

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

mkdir ~/tiago_dual_public_ws
cd ~/tiago_dual_public_ws

Then run the following instruction in order to download tiago_dual_public-noetic.rosinstall and to clone all the required repositories within the workspace:

wget https://raw.githubusercontent.com/pal-robotics/tiago_dual_tutorials/master/tiago_dual_public-noetic.rosinstall
rosinstall src /opt/ros/noetic tiago_dual_public-noetic.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 noetic --skip-keys "urdf_test omni_drive_controller orocos_kdl pal_filters libgazebo9-dev pal_usb_utils speed_limit_node camera_calibration_files pal_moveit_plugins pal_startup_msgs pal_local_joint_control pal_pcl_points_throttle_and_filter current_limit_controller hokuyo_node dynamixel_cpp pal_moveit_capabilities pal_pcl dynamic_footprint gravity_compensation_controller pal-orbbec-openni2 pal_loc_measure pal_map_manager joint_impedance_trajectory_controller ydlidar_ros_driver"

Then, you may proceed building the workspace:

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

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