From c01949365437310527d5902e1f4c516b81bc9e6a Mon Sep 17 00:00:00 2001 From: dleins Date: Tue, 24 Oct 2023 12:01:32 +0200 Subject: [PATCH] docs: add ROS One info and colcon steps --- .../getting_started/getting_started.rst | 26 ++++++++++++++----- 1 file changed, 19 insertions(+), 7 deletions(-) diff --git a/docs/tutorials/getting_started/getting_started.rst b/docs/tutorials/getting_started/getting_started.rst index 4ef953ee..ed5c06a9 100644 --- a/docs/tutorials/getting_started/getting_started.rst +++ b/docs/tutorials/getting_started/getting_started.rst @@ -4,11 +4,14 @@ Gettings Started Here you will setup an example environment that you can utilize in the other tutorials. -Install ROS Noetic -^^^^^^^^^^^^^^^^^^ +Install ROS (Noetic or One) +^^^^^^^^^^^^^^^^^^^^^^^^^^^ -MuJoCo currently mainly supports ROS Noetic running on a Ubuntu Focal (20.04) OS. At this time we don't guarantee compatibility with other systems, though you still might be able to compile and run on a differing configuration. +MuJoCo currently is supported for ROS Noetic running on Ubuntu Focal (20.04) and for ROS One running on Ubuntu Jammy (22.04). At this time we don't guarantee compatibility with other systems, though you still might be able to compile and run on a differing configuration. +.. tip:: How to install ROS One on Jammy: https://ros.packages.techfak.net/ + +.. hint:: We are working on a version supporting ROS 2! Once you have ROS installed, make sure you have the most up to date packages: :: @@ -36,16 +39,19 @@ Source the base ROS distribution :: Configure the previously created directory to be a catkin workspace :: cd ~/mujoco_ws - catkin init + catkin init && catkin config --install Download a compatible MuJoCo release or clone the source repository with the corresponding tag. The current MuJoCo ROS build on our main branch ('noetic-devel') requires MuJoCo 2.3.6. +.. attention:: + if you are using colcon, don't run `catkin init` + If you choose to build from source, clone and build MuJoCo with the following commands: :: git clone https://github.com/deepmind/mujoco $HOME/mujoco -b 2.3.6 --depth 1 mkdir ~/mujoco/build cd ~/mujoco/build - cmake .. -DMUJOCO_BUILD_SIMULATE=OFF -DMUJOCO_BUILD_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=$HOME/mujoco_ws/devel -DCMAKE_BUILD_TYPE=Release + cmake .. -DMUJOCO_BUILD_SIMULATE=OFF -DMUJOCO_BUILD_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=$HOME/mujoco_ws/install -DCMAKE_BUILD_TYPE=Release .. note:: You can change the build type to `Debug` or `RelWithDebInfo` for debugging purposes. @@ -72,13 +78,19 @@ The following command will install any package dependencies not already present sudo apt update rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y -Now that all dependencies are satisfied, we can move on an build the source code in the workspace: :: +Now that all dependencies are satisfied, we can move on an build the source code in the workspace: + +If you are using catkin, run :: catkin b +Otherwise, for colcon run :: + + colcon build + Upon successful completion of the build, you should be able to source the built workspace and run a sample MuJoCo ROS server: :: - source ~/mujoco_ws/devel/setup.bash + source ~/mujoco_ws/install/setup.bash roslaunch mujoco_ros launch_server.launch use_sim_time:=true A window displaying the default testing simulation scene like below should now have opened