Software Setup
==============

.. _ROS Noetic: http://wiki.ros.org/noetic/Installation
.. _Ubuntu 20.04: https://releases.ubuntu.com/20.04/
.. _Ubuntu 20.04 Installation: https://ubuntu.com/server/docs/installation

.. image:: media/common/ros_noetic.png
    :width: 100%
    :align: center
    :class: mbsrounded

|

The ROS driver for the robots is initially supported for the
``ROS Noetic``. All of ROS related software should be installed in a
remote **Dingo-D-PC** as well as  the **Remote-PC**. The
steps for shown below are for **Remote-PC** as the Dingo-D is pre-installed with
the required drivers and ROS distribution.


PC Setup
--------

`ROS Noetic`_ installation requires Ubutnu 20.04. 

1. Download `Ubuntu 20.04`_ 
2. Follow the `Ubuntu 20.04 Installation`_ guide

ROS-noetic Installation
~~~~~~~~~~~~~~~~~~~~~~~~

The ros driver provided can be run either on a remote PC or on board
robot computer. Usually, the on-board computer already has pre-installed ROS
distribution, so the instructions below will be applicable to a remote computer.
You may run the following commands to install ROS noetic or you can simply follow
the `instructions <http://wiki.ros.org/noetic/Installation/Ubuntu>`_ from the roswiki.

1. Enter the Ubuntu terminal and typie in the following command:

.. code:: bash

   cd 

2. The next step is setting up the source list:

.. code:: bash

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. After which you will set up the keys:

.. code:: bash

   sudo apt install curl 
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

4. Then, you will install ROS-noetic:

.. code:: bash

   sudo apt update
   sudo apt install ros-noetic-desktop-full

5. Finally, you will add ROS environment to your bash file, what this
   means is that each time you load up your terminal, it will
   automatically find the built-in ROS packages.

.. code:: bash

   echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
   source ~/.bashrc

6. Install python dependencies and initialize repo:

.. code:: bash

   sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
   sudo rosdep init
   rosdep update

Once the ROS packages are set-up the next step would be to set up a
workspace in which you can add pre-built packages to control your robot.

Catkin Workspace
~~~~~~~~~~~~~~~~

1. The first step is to ensure that you have correctly setup you ROS
   noetic. It can be checked by:

.. code:: bash

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

2. Next, install catkin_tools:

.. code:: bash

   sudo apt install python3-catkin-tools

3. The next step is to create, your workspace. This is typically created
   in the home directory following the standard ROS convention, once
   built, you should see a ``build`` and ``devel`` folder next to your
   ``src`` folder:

.. code:: bash

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/
   catkin build

4. To enable the workspace, you must type in:

.. code:: bash

   source devel/setup.bash

5. To avoid typing this everytime you start a terminal, you’ll add this
   into the ``last line`` of the bashrc file:

.. code:: bash

   gedit ~/.bashrc

* \•  Add the following line at the end of the bashrc file:

.. code:: bash

   source /home/<your_computer_username>/catkin_ws/devel/setup.bash

* \•  Everytime you do a ``catkin build``, it is necessary to either restart all
   your terminals, or source them.

* \•  To verify that everything is working correctly, type the following
   into the terminal:

.. code:: bash

   echo $ROS_PACKAGE_PATH