Installation

System Requirements

• Ubuntu 22.04

• ROS2 Humble

Setup

First, clone the repository and navigate to its directory.

If using ROS2, use rosdep to install the dependencies listed in the package.xml file:

rosdep install --from-paths . -r -y

Some dependencies are only available as pip packages. Install them with:

pip install -r requirements.txt

It is often best practice to install pip packages in a virtual environment to avoid conflicts with system packages. You can do this as follows:

python3 -m venv env  # Optional
source env/bin/activate  # Optional
pip install -r requirements.txt

Note

You may need to install the python3-venv APT package.

Standalone (Without ROS2)

This project can also be used as a standalone Python module independently of ROS. To use it in this manner, skip the rosdep install step and install only the pip packages.

Dev Container

If you are working on another system such as a different version of Ubuntu, or Windows or MacOS, you can use the provided dev container to run and edit this project.

In order to access the X server of the dev container to view a scenario’s Tkinter window, you may need to run the following command prior to launching.

xhost +local:root