Install from Debian Packages
This guide will help you build the CPM Lab ROS2 project from Debian packages. This installation does not allow to modify components of the CPM Lab but it allows the user to run the CPM Lab ROS2 stack with all its features.
Installation Steps
Follow these steps to set up the CPM Lab ROS2 environment:
1. Install ROS2
Follow the official installation instructions for your system:
2. Setup Repository
The installation of the CPM Lab ROS2 strack is similar to the installation of ROS. First, you need to add our GPG key to your system. Download the key and navigate to the download direcotry. Remove the ASCII armor and move it to the keyring directory:
cd <download-directory>
gpg --dearmor < cpm-archive-keyring.gpg.key | sudo tee /usr/share/keyrings/cpm-archive-keyring.gpg > /dev/null
Then, add the repository to your system:
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/cpm-archive-keyring.gpg] https://cpm.lrt.unibw.de/apt $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/cpmros.list > /dev/null
3. Install the CPM Lab
Now, you can install the CPM-Lab ROS2 workspace. First, update your package list and then install the CPM-Lab ROS2 workspace:
sudo apt update
sudo apt install ros-<ros2-distro>-cpm-lab
4. Install alternative ROS2 Middleware
The default ROS2 middleware, FastDDS, causes unexpected network issues. We recommend switching over to the more stable Eclipse CycloneDDS implementation.
sudo apt update
sudo apt install ros-<ros2-distro>*cyclone*
# Manually setting the implementation for this terminal
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Automatically setting the implementation for all future terminals
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
5. Launch RViz
🖥️ Download the CPM-Lab RViz configuration and launch RViz.
source /opt/ros/<ros2-distro>/setup.bash
export ROS_DOMAIN_ID=21
rviz2 -d <path-to-rviz-config>
🎉 You’re Done! 🎉
You have successfully installed the CPM Lab ROS2 stack using Debian packages.
If you run into issues, refer to the Troubleshooting Guide or ask for help via our Slack.