Installation through the Virtual Box Appliance
We provide a virtual machine that comes with everything needed pre-installed to develop ROS 2 applications using Papyrus for Robotics.
For this virtual machine, username is “user” and password is “p”. User “user” is allowed to use “sudo”.
Alternatively, Papyrus for Robotics can be installed either in form of an RCP (a self contained Eclipse installation) or added to an existing Eclipse installation by using an update site. Both can be downloaded from eclipse.org/papyrus/components/robotics referring to the current 0.9 release.
- If want to extend an existing Eclipse, add the update-site via Help->Install New Software->Add
Source code installation
ROS 2 Dependencies
ROS 2 Environment
If you plan to use Papyrus for Robotics to design and deploy ROS 2-based systems, you need to install ROS 2. The current release 0.9 supports all the ROS 2 distributions from ROS 2 Foxy Fitzroy and successive. Most tested distributions are ROS 2 Humble Hawksbill and Foxy.
In case you have a source installation of ROS 2, you need configure Papyrus for Robotics to include your custom ROS 2 installation path to the list of paths to source (see below).
Behavior Tree Execution
In addition to ROS 2, if you plan to use Papyrus for Robotics to execute task specifications in form of behavior trees, you need to install the
bt_sequencer package, a companion sequencing framework which is responsible for behavior-tree based task execution.
First install the
nav2_behavior_tree package from Navigation2, then download and build the
bt_sequencer, e.g., as shown below. (Remember to replace
sudo apt-get install ros-<your-distribution>-nav2-behavior-tree mkdir -p ~/ros2_ws/sequencer_ws/src cd ~/ros2_ws/sequencer_ws/src wget -q -O tmp.zip ftp://ftp.cea.fr/pub/lise/p4r/bt_sequencer_<your-distribution>.zip && unzip tmp.zip && rm tmp.zip cd ~/ros2_ws/sequencer_ws colcon build --symlink-install --packages-up-to bt_sequencer
Then configure Papyrus for Robotics to include the
bt_sequencer installation path (here
~/ros2_ws/sequencer_ws/install) in the list of paths to source.
- In Papyrus for Robotics, click on
- Then type
ros 2in the preference filter text box on top left and add the path above using the
Newbutton. Then press the
Apply and Closebutton (green).
In case you have a source installation of the
nav2_behavior_tree package (including its dependencies —
behaviortree_cpp_v3), just add its installation path as well, to the list of paths to source.
Note on Licensing
bt_sequencer is a slightly modified version of Nav2's
nav2_bt_navigator package and it is licensed under the Apache License, Version 2.0 as the original package (Copyright (c) 2018 Intel Corporation). The
bt_sequencer includes the following changes:
- all the Nav2 specificities are removed (inheritance from
nav2_util::LifecycleNode, simple action server that implements the
NavigateToPoseaction, all the corresponding callbacks and data types), except for the usage of class
- a ZMQ logger is added from
- an action server is added that triggers the execution of a BT at each
bt_sequencer_msgs::action::ExecuteBtgoal requests. The BT to be executed must be provided as parameter of the