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Difference between revisions of "Papyrus/customizations/robotics/installation"
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| − | + | __NOTOC__ | |
| + | = Installation instructions = | ||
| + | == Installation through the Virtual Box Appliance == | ||
| + | We provide a [ftp://ftp.cea.fr/pub/lise/p4r/CEAPilot_VirtualMachine.ova virtual machine] that comes with everything needed pre-installed to develop ROS2 applications using Papyrus for Robotics. | ||
| + | For this virtual machine, username is “user” and password is “p”. User “user” is allowed to use “sudo”. After logging in, you'll find a readme file with some additional links and videos on the desktop. | ||
| + | |||
| + | == Manual Installation == | ||
=== Binary installation === | === Binary installation === | ||
| − | 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 [https://www.eclipse.org/papyrus/components/robotics eclipse.org/papyrus/components/robotics]. | + | 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 [https://www.eclipse.org/papyrus/components/robotics eclipse.org/papyrus/components/robotics] referring to the current 0.8 release. |
| − | * | + | * RCPs |
| + | ** [https://download.eclipse.org/modeling/mdt/papyrus/components/robotics/downloads/2020-06/rcps Release RCPs] for 2020-06 | ||
| + | ** [https://ci.eclipse.org/papyrus/job/papyrus-robotics-2021-12/lastSuccessfulBuild/artifact/releng/org.eclipse.papyrus.robotics.product/target/products/ Nightly RCPs] for 2021-12. | ||
| − | * If want to extend an existing Eclipse, add the update-site via Help->Install New Software->Add | + | |
| + | * If want to extend an existing Eclipse, add the update-site via Help->Install New Software->Add | ||
| + | ** [https://download.eclipse.org/modeling/mdt/papyrus/components/robotics/ Release update-site] (for 2020-06) | ||
| + | ** [https://ci.eclipse.org/papyrus/view/Robotics/job/papyrus-robotics-2021-12/lastSuccessfulBuild/artifact/releng/org.eclipse.papyrus.robotics.p2/target/repository/ Nightly update site] (for 2021-12) | ||
=== Source code installation === | === Source code installation === | ||
| − | + | See [[Papyrus/customizations/robotics/devinstall|Developer installation]]. | |
| + | |||
| + | === ROS2 Dependencies === | ||
| + | ==== ROS2 Environment ==== | ||
| + | If you plan to use Papyrus for Robotics to design and deploy ROS2-based systems, you need to install ROS2. The current release 0.8 supports [https://index.ros.org/doc/ros2/Installation/Foxy/ ROS2 Foxy Fitzroy] and [https://index.ros.org/doc/ros2/Installation/Eloquent/ ROS2 Eloquent Elusor] | ||
| − | + | ==== Behavior Tree Execution ==== | |
| + | In addition to ROS2, if you plan to use Papyrus for Robotics to execute task specifications in form of behavior trees, you need to install: | ||
| − | * | + | * the [https://github.com/ros-planning/navigation2/tree/foxy-devel/nav2_behavior_tree <code>nav2_behavior_tree</code>] package from Navigation2, including its dependencies ([https://github.com/ros-planning/navigation2/tree/foxy-devel/nav2_common <code>nav2_common</code>], [https://github.com/ros-planning/navigation2/tree/foxy-devel/nav2_msgs <code>nav2_msgs</code>], [https://github.com/ros-planning/navigation2/tree/foxy-devel/nav2_util <code>nav2_util</code>] and [https://github.com/BehaviorTree/BehaviorTree.CPP <code>behaviortree_cpp_v3</code>]). [https://navigation.ros.org/build_instructions/index.html# Build and Install Navigation2] explains how to get the complete framework on your machine. |
| − | * | + | * the [ftp://ftp.cea.fr/pub/lise/p4r/bt_sequencer.zip <code>bt_sequencer</code>] package. This package is a slightly modified version of [https://github.com/ros-planning/navigation2/tree/foxy-devel/nav2_bt_navigator <code>nav2_bt_navigator</code>] with the following changes: |
| + | ** commented default <code>plugin_libs</code> | ||
| + | ** added a ZMQ logger from [https://www.behaviortree.dev/ BehaviorTree.CPP] | ||
| + | ** forced the execution of BT at activation (and not as response to a <code>NavigateToPose</code> goal request) | ||
Revision as of 13:25, 28 January 2023
Installation instructions
Installation through the Virtual Box Appliance
We provide a virtual machine that comes with everything needed pre-installed to develop ROS2 applications using Papyrus for Robotics.
For this virtual machine, username is “user” and password is “p”. User “user” is allowed to use “sudo”. After logging in, you'll find a readme file with some additional links and videos on the desktop.
Manual Installation
Binary installation
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 0.8 release.
- RCPs
- Release RCPs for 2020-06
- Nightly RCPs for 2021-12.
- If want to extend an existing Eclipse, add the update-site via Help->Install New Software->Add
- Release update-site (for 2020-06)
- Nightly update site (for 2021-12)
Source code installation
ROS2 Dependencies
ROS2 Environment
If you plan to use Papyrus for Robotics to design and deploy ROS2-based systems, you need to install ROS2. The current release 0.8 supports ROS2 Foxy Fitzroy and ROS2 Eloquent Elusor
Behavior Tree Execution
In addition to ROS2, if you plan to use Papyrus for Robotics to execute task specifications in form of behavior trees, you need to install:
- the
nav2_behavior_treepackage from Navigation2, including its dependencies (nav2_common,nav2_msgs,nav2_utilandbehaviortree_cpp_v3). Build and Install Navigation2 explains how to get the complete framework on your machine.
- the
bt_sequencerpackage. This package is a slightly modified version ofnav2_bt_navigatorwith the following changes:- commented default
plugin_libs - added a ZMQ logger from BehaviorTree.CPP
- forced the execution of BT at activation (and not as response to a
NavigateToPosegoal request)
- commented default