This documentation provides the instruction for manual installation. For ease of use, we provided a Dockerfile for both development and deployment.
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Make a ROS 2 workspace folder and clone this repository inside src/ folder
git clone --recursive https://github.com/stephenadhi/human_ws.git -
Clone Interbotix Locobot packages
git clone -b humble --recursive https://github.com/stephenadhi/interbotix_ros_core.git git clone -b humble https://github.com/stephenadhi/interbotix_ros_toolboxes.git git clone -b humble_odom_ground_truth https://github.com/stephenadhi/interbotix_ros_rovers.git git submodule update --init --recursive -
Clone navigation2 from source (optional, necessary for using MPPI controller)
git clone -b humble https://github.com/stephenadhi/navigation2.git -
Clone Pedestrian Simulator (optional, otherwise create COLCON_IGNORE for pedsim_relay package)
git clone -b humble_locobot https://github.com/stephenadhi/pedsim_ros.git -
Install dependencies
cd <your_workspace> rosdep install -i -y -r --from-paths src --rosdistro humble pip3 install -r requirements.txt -
Build everything inside the workspace
colcon build --packages-select zed_interfaces soloco_interfaces pedsim_msgs interbotix_xs_msgs interbotix_xs_driver dynamixel_workbench_toolbox source install/setup.bash colcon build -
Define robot base type and model
echo "export INTERBOTIX_XSLOCOBOT_BASE_TYPE=kobuki" >> ~/.bashrc echo "export INTERBOTIX_XSLOCOBOT_ROBOT_MODEL=locobot_base" >> ~/.bashrc