Installation
Prerequisites
This package is developed for ROS 2 Humble. Please ensure you have a working ROS 2 Humble installation by following the official installation guide.
To use the emulator in virtual mode, Docker is required. Install Docker by following the Docker official installation guide for Ubuntu.
Note
Environment Specifications
- OS: Ubuntu 22.04 LTS
- ROS 2: Humble Hawksbill
- Language: Python ≥ 3.10, C++17
Required Dependencies
Install the necessary system and ROS 2 dependencies:
sudo apt-get update
sudo apt-get install -y libpoco-dev libyaml-cpp-dev wget \
ros-humble-control-msgs ros-humble-realtime-tools ros-humble-xacro \
ros-humble-joint-state-publisher-gui ros-humble-ros2-control \
ros-humble-ros2-controllers ros-humble-gazebo-msgs ros-humble-moveit-msgs \
dbus-x11 ros-humble-moveit-configs-utils ros-humble-moveit-ros-move-group \
ros-humble-gazebo-ros-pkgs ros-humble-ros-gz-sim ros-humble-ign-ros2-control
Install Gazebo Simulator support:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install -y libignition-gazebo6-dev ros-humble-gazebo-ros-pkgs ros-humble-ros-gz-sim ros-humble-ros-gz
Workspace & Package Setup
Create your workspace and clone the repository:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b humble https://github.com/doosan-robotics/doosan-robot2.git
Install package dependencies using rosdep:
cd ~/ros2_ws
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
Emulator Setup (Optional)
If you plan to use emulator mode, install the virtual DRCF emulator using:
cd ~/ros2_ws/src/doosan-robot2
chmod +x ./install_emulator.sh
sudo ./install_emulator.sh
Note
This will install Docker and virtual controller components needed for simulation mode.
Build the Package
Before building, clean up previous artifacts (recommended):
cd ~/ros2_ws
rm -rf build/ install/ log/
Then build the workspace:
colcon build
source install/setup.bash
Note
To use ROS2 with Version 3.x Controller, specify the build option:
colcon build --cmake-args -DDRCF_VER=3
Test the Installation
To verify your setup, launch the RViz2 demo:
ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py