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Install Your ROS2

Installing ROS2 Jazzy​

sudo apt-get -y install software-properties-common curl bash

curl https://ctu-mrs.github.io/ppa2-stable/add_ros_ppa.sh | bash

sudo apt-get -y install ros-jazzy-desktop-full ros-dev-tools

Installing MRS UAV System​

curl https://ctu-mrs.github.io/ppa2-stable/add_ros_ppa.sh | bash

sudo apt install ros-jazzy-desktop-full

curl https://ctu-mrs.github.io/ppa2-stable/add_ppa.sh | bash

sudo apt install ros-jazzy-mrs-uav-system-full

Then source the ROS2 Jazzy setup.bashrc (or setup.zshrc):

source /opt/ros/jazzy/setup.bash

Set Zenoh to be the used RMW implementation. The Zenoh RMW is used by default in our example simulation sessions. Add to ~/.bashrc (or ~/.zshrc):

export RMW_IMPLEMENTATION="rmw_zenoh_cpp"

Source ~/.bashrc (or ~/.zshrc):

source ~/.bashrc

Start the example simulation session to confirm that everything installed properly.

cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/mrs_one_drone

./start.sh

Updating MRS UAV System​

Issue the following command to update the MRS UAV System:

sudo apt update && rosdep update && sudo apt upgrade --with-new-pkgs --allow-downgrades

What does it do?​

  • sudo apt update will refresh the available debian packages from the archives.
  • rosdep update will refresh the rosdep dependency tree >
  • sudo apt upgrade will download the new versions of packages.
    • --with-new-pkgs will ensure that if new dependency appears for an already installed package, it will be installed as well.
    • --allow-downgrades will allow to downgrade a package version. This happens when installing our forks of official ROS packages.