Papyrus/customizations/robotics/installation

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”.

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.

• If you use the RCP, make sure that a JRE is already installed in your system and contained in the system PATH.

• If want to extend an existing Eclipse, add the update-site via Help->Install New Software->Add (release update-site (for 2020-06) or one of the nightly update sites below)

• Nightly builds with the latest changes are available on the Eclipse continuous integration server, see 2020-06 (nightly update site), and 2021-03 (nightly update site), 2021-03 (nightly RCP builds).

Source code installation

See 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 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_tree package from Navigation2, including its dependencies (nav2_common, nav2_msgs, nav2_util and behaviortree_cpp_v3). Build and Install Navigation2 explains how to get the complete framework on your machine.

• the bt_sequencer package. This package is a slightly modified version of nav2_bt_navigator with 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 NavigateToPose goal request)