Data Sheets
===========

* \• `Husky Data Sheet <https://my.hidrive.com/lnk/Wii1yAyg>`__
* \• `Zed2i Data Sheet <https://my.hidrive.com/lnk/BxC1ywic>`__
* \• `MP1-11TGS (Main PC) Data Sheet <https://my.hidrive.com/lnk/UKCVy8Ue>`__
* \• `Telefonica RUT240 (WiFi Router) Data Sheet <https://my.hidrive.com/lnk/k3i1Sy1Y>`__
* \• `Fixposition Data Sheet <https://uploads-ssl.webflow.com/623c5f1910ae850ac3ba2058/63749585b22bb3e3b92055cb_Vision%20RTK%202%20Product%20Flyer%20EN.pdf>`__
* \• `Ouster Data Sheets <https://ouster.com/downloads/>`__
* \• `Nvidia Jetson Orin 2GB <https://www.nvidia.com/content/dam/en-zz/Solutions/gtcf21/jetson-orin/nvidia-jetson-agx-orin-technical-brief.pdf>`__
* \• `RealSense Data Sheet <https://www.intelrealsense.com/depth-camera-d405/>`__
* \• `Flir Data Sheet <http://www.nbn.at/fileadmin/user_upload/Vertretungen/FLIR/A50_A70/pdf/A50-A70-Manual-t810579-us-2108-nbn.pdf>`__
* \• `Ufactory xarm6 Data Sheet <http://download.ufactory.cc/xarm/en/Specification%20for%20xArm_20191021.pdf>`__
* \• `Robotiq Force Torque sensor Data Sheet <https://blog.robotiq.com/hubfs/Product-sheets/FT%20300/ur/Product_sheet-FT300S_FC_EN.pdf>`__
* \• `Robotiq gripper Data Sheet <https://assets.robotiq.com/website-assets/support_documents/document/online/2F-85_2F-140_TM_InstructionManual_HTML5_20190503.zip/2F-85_2F-140_TM_InstructionManual_HTML5/Content/6.%20Specifications.htm>`__
* \• `Universal Robots UR5e Data Sheet <https://www.universal-robots.com/download/manuals-e-seriesur20ur30/user/ur5e/57/user-manual-ur5e-e-series-sw-57-english-us-en-us/>`__

Documentations
==============

* \• `ZED2 ROS Docs <https://www.stereolabs.com/docs/ros/>`__
* \• `ZED2 ROS2 Docs <https://www.stereolabs.com/docs/ros2/>`__
* \• `Husky Noetic ROS Docs <http://www.clearpathrobotics.com/assets/guides/noetic/husky/>`__
* \• `Husky Foxy ROS2 Docs <https://clearpathrobotics.com/assets/guides/foxy/husky/HuskyInstallSoftware.html>`__
* \• `Ouster ROS Docs <https://github.com/ouster-lidar/ouster-ros>`__
* \• `Ouster ROS2 Docs <https://github.com/ouster-lidar/ouster-ros/tree/ros2-foxy>`__
* \• `Nvidia Jetson Orin SDK Resources <https://developer.nvidia.com/embedded/learn/jetson-agx-orin-devkit-user-guide/index.html>`__
* \• `Fixposition ROS & ROS2 Docs <https://github.com/fixposition/fixposition_driver>`__
* \• `RealSense SDK Docs <https://github.com/IntelRealSense/librealsense>`__
* \• `Ufactory xarm6 Documentation <http://download.ufactory.cc/xarm/en/xArm%20User%20Manual.pdf?v=1578910898247>`__
* \• `Ufactory xarm6 ROS Docs <https://github.com/xArm-Developer/xarm_ros>`__
* \• `Ufactory xarm6 ROS2 Docs <https://github.com/xArm-Developer/xarm_ros2/tree/foxy>`__
* \• `Robotiq Force Torque sensor Docs <https://assets.robotiq.com/website-assets/support_documents/document/FT_Sensor_Instruction_Manual_PDF_20181218.pdf>`__
* \• `Robotiq gripper Docs <https://assets.robotiq.com/website-assets/support_documents/document/2F-85_2F-140_Instruction_Manual_e-Series_PDF_20190206.pdf>`__
* \• `Universal Robots UR5e Docs <https://www.universal-robots.com/articles/?filter_Categories[]=68558&filter_Robot%20arm%20size[]=42713>`__

ROS2 Installation Humble
========================


.. _ROS2 Humble: https://docs.ros.org/en/humble/Installation.html
.. _Ubuntu 22.04: https://releases.ubuntu.com/jammy/


.. figure:: media/pictures/humble.png
   :width: 70%
   :align: center
   :class: mbsrounded

|

The ROS driver for the robots is initially supported for the
``ROS2 Humble``. All of ROS related software should be installed in a
remote **Husky-PC** as well as  the **Remote-PC**. The
steps for shown below are for **Remote-PC** as the Husky is pre-installed with
the required drivers and ROS distribution.

.. warning:: 

   Care should be taken when installing ROS so that it matches with your CPU's architecture (i.e. armhf, amd64, arm6, etc.)


.. note::
   All the ROS related software should be installed/run on 
   remote PC/Rasberry Pi/Nvidia board, nothing needed to be
   installed on robots control board if bought with the ROS pkg.


PC Setup
--------
`ROS2 Humble`_ installation requires Ubutnu 22.04. 

1. Download `Ubuntu 22.04`_ 
2. Follow the `Ubuntu 22.04 installation guide <https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview>`_

ROS Humble Installation
------------------------

The ROS driver provided can be run either on a remote PC or on board robot computer. Typically, the on-board computer already has a pre-installed ROS distribution, 
so the instructions below will be applicable to a remote computer. You may execute the following commands to install ROS Humble, or you can simply follow 
the `instructions <https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html>`_ from the ROS Wiki.

Set Locale
----------

Ensure that your system supports :code:`UTF-8` locale. Verify your locale settings with the following command:

.. code-block:: bash

   locale

If necessary, set up a :code:`UTF-8` locale:

.. code-block:: bash

   sudo apt update && sudo apt install locales
   sudo locale-gen en_US en_US.UTF-8
   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8

Setup Sourcess
--------------

Add the ROS2 apt repository to your system. First, make sure that the Ubuntu Universe repository `Ubuntu Universe repository <https://help.ubuntu.com/community/Repositories/Ubuntu>`_  is enabled:

.. code-block:: bash

   sudo apt install software-properties-common
   sudo add-apt-repository universe

Next, add the ROS2 GPG key with apt:

.. code-block:: bash

   sudo apt update && sudo apt install curl -y
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Then, add the repository to your sources list:

.. code-block:: bash

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS2 Packages
---------------------

Update your apt repository caches after setting up the repositories:

.. code-block:: bash

   sudo apt update

Ensure your system is up to date before installing new packages:

.. code-block:: bash

   sudo apt upgrade

.. warning:: 

   Due to early updates in Ubuntu 22.04 it is important that :code:`systemd` and :code:`udev`-related packages are updated before installing ROS2. The installation 
   of ROS2’s dependencies on a freshly installed system without upgrading can trigger the **removal of critical system packages**.

   Please refer to `ros2/ros2#1272 <https://github.com/ros2/ros2/issues/1272>`_ and `Launchpad #1974196 <https://bugs.launchpad.net/ubuntu/+source/apt/+bug/1974196>`_ 
   for more information.  

.. _ros-humble-desktop:

Desktop Install (Recommended)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Install ROS, RViz, demos, and tutorials:

.. code-block:: bash

   sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Install communication libraries, message packages, and command line tools without GUI tools:

.. code-block:: bash

   sudo apt install ros-humble-ros-base

Development Tools
-----------------

Install compilers and other tools to build ROS packages:

.. code-block:: bash

   sudo apt install ros-dev-tools

Environment Setup
-----------------

Source the setup script to set up your environment:

.. code-block:: bash

   # Replace ".bash" with your shell if you're not using bash
   # Possible values are: setup.bash, setup.sh, setup.zsh
   source /opt/ros/humble/setup.bash

Try Some Examples
-----------------

If you installed :ref:`ros-humble-desktop` above, try some examples:

Run a C++ :code:`talker` in one terminal:

.. code-block:: bash

   source /opt/ros/humble/setup.bash
   ros2 run demo_nodes_cpp talker

Run a Python :code:`listener` in another terminal:

.. code-block:: bash

   source /opt/ros/humble/setup.bash
   ros2 run demo_nodes_py listener

This verifies both the C++ and Python APIs are working properly.

Next Steps After Installing
---------------------------

Continue with the `tutorials and demos <https://docs.ros.org/en/humble/Tutorials.html>`_ to configure your environment, create your own workspace and packages, and 
learn ROS2 core concepts.

Using the ROS1 Bridge
----------------------

Connect topics from ROS1 to ROS2 and vice-versa using the ROS1 bridge. See the dedicated  `documentation <https://github.com/ros2/ros1_bridge/blob/master/README.md>`_  
on how to build and use the ROS1 bridge.

Additional RMW Implementations (Optional)
-----------------------------------------

ROS2 uses Fast DDS as the default middleware (RMW), but you can replace it at runtime. See the `guide <https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html>`_ 
on how to work with multiple RMWs.

Troubleshooting
---------------

Refer to the troubleshooting techniques found `here <https://docs.ros.org/en/humble/How-To-Guides/Installation-Troubleshooting.html>`_ if you encounter any issues.

Uninstall
---------

If you need to uninstall ROS2 or switch to a source-based install once you have already installed from binaries, run the following command:

.. code-block:: bash

   sudo apt remove ~nros-humble-* && sudo apt autoremove

You may also want to remove the repository:

.. code-block:: bash

   sudo rm /etc/apt/sources.list.d/ros2.list
   sudo apt update
   sudo apt autoremove
   # Consider upgrading for packages previously shadowed.
   sudo apt upgrade