SODA.Sim ROS2 Workspase

This repository contains scripts for build ROS2 for SODA.Sim ROS2 for Windows and Linux.

For for Windows

We don't build ROS2 from source for Windows. We use official prebuiled releases from here.

• Perfom all step from Original Manuale till to environment-setup.
  Downloading ROS-2 to the SODA_SIM_ROS2/ros2-windows folder.
  Note: You can skip "Install OpenCV", "Install Qt5", "RQt dependencies" steps from the manul.
• Open x64 Native Tools Command Prompt for VS 2022
• Build and install the ackermann_msgs to the ros2-windows folder:

  $ call <SODA_SIM_ROS2>/ros2-windows/setup.bat
  $ cd <ACKERMAN_MSGS_ROOT>
  $ colcon build --merge-install
  $ cp -a <ACKERMAN_MSGS_ROOT>/Install/. <SODA_SIM_ROS2>/ros2-windows/
  

For Linux

Tested on Ubuntu 22.04 only.

• Perfom all step from Original Manuale till to Install additional DDS implementations (optional).
• Remove ./src/eclipse-cyclonedds and ./src/eclipse-iceoryx folders
• Build ROS2:

  $ export UE_ENGINE=<PATH_TO_UNREAL_ENGINE>/Engine
  $ ./vcpkg-linux.sh
  $ ./BuildForLinux.sh
  $ cp -a Install/. <REPO_ROOT>/ros2-linux/
  

• Build and install the ackermann_msgs to the ros2-linux folder:

  $ source <REPO_ROOT>/ros2-linux/setup.bash
  $ export UE_ENGINE=<PATH_TO_UNREAL_ENGINE>/Engine
  $ cd <ACKERMAN_MSGS_ROOT>
  $ colcon build --merge-install --cmake-args -DCMAKE_TOOLCHAIN_FILE=<REPO_ROOT>/unreal-linux-toolchain.cmake
  $ cp -a <ACKERMAN_MSGS_ROOT>/Install/. <SODA_SIM_ROS2>/ros2-linux/