Installation

In this page, we provide the installation procedure for the ChoiRbot package.

Toolbox download and build

The ChoiRbot toolbox currently supports ROS 2 Dashing Diademata. Please refer to the ROS 2 website for a comprehensive tutorial on how to install ROS 2. We suggest to perform the Desktop Install of ROS 2, which provides useful tools such as RVIZ.

If you do not have a ROS 2 workspace run on a terminal:

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src

To download ChoiRbot, clone the package repository:

git clone https://github.com/OPT4SMART/ChoiRbot.git .

Finally, simply build your workspace:

cd ~/dev_ws
colcon build --symlink-install

Installation of required Python packages

ChoiRbot requires a set of Python packages that can be installed by running (inside the src directory of your workspace):

pip3 install -r requirements.txt

If you are interested in running distributed optimization algorithms, you also need the DISROPT package. You can install it by running:

pip3 install -r requirements_disropt.txt
pip3 install --no-deps disropt

You could also install disropt by directly running pip install disropt. However, this would automatically install additional packages (such as mpi4py) that are not required by ChoiRbot.

Installation of Gazebo and Turtlebot3 files

ChoiRbot allows yo to easily simulate a team of Turtlebot3 mobile robots. You just need to perform the installation steps at this link (PC Setup tab) and to clone the ROS 2 workspace provided here (Gazebo Simulation tab). Then, be sure that the .bashrc file contains the following lines (notice that the paths may need to be adjusted according to your current installation).

export TURTLEBOT3_MODEL=burger
source ~/turtlebot3_ws/install/setup.bash
export ROS_DOMAIN_ID=30 #TURTLEBOT3
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models