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docs: tailor fast setup for prepared venue

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mavxa
2026-09-13 23:45:59 +03:00
parent 9db7139871
commit f5c03fd32b
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README.md
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Нужен установленный официальный симулятор, ROS 2 Jazzy, `rclpy`, `tf2_ros`.
Дополнительные pip-пакеты и сборка colcon самого решения не нужны.
### Если ROS2 или симулятор отсутствуют
Штатная площадка должна предоставлять готовые ROS2 Jazzy, Webots и workspace
симулятора. Сначала попросите эксперта восстановить окружение. Для самостоятельной
установки нужен Ubuntu 24.04; ROS2 устанавливается по
[официальной инструкции](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html).
После подключения ROS-репозитория:
```bash
sudo apt update
sudo apt install -y ros-jazzy-desktop ros-jazzy-rmw-fastrtps-cpp \
ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-moveit \
ros-jazzy-tf2-tools ros-jazzy-cv-bridge ros-jazzy-image-transport \
ros-jazzy-webots-ros2 python3-colcon-common-extensions python3-rosdep ros-dev-tools
```
Webots ставится из [репозитория Cyberbotics](https://cyberbotics.com/doc/guide/installation-procedure):
```bash
sudo install -d /etc/apt/keyrings
sudo wget -q -O /etc/apt/keyrings/Cyberbotics.asc https://cyberbotics.com/Cyberbotics.asc
echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" \
| sudo tee /etc/apt/sources.list.d/Cyberbotics.list
sudo apt update
sudo apt install -y webots
```
Исходники официального симулятора:
```bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://gitlab.mobird.dev/fms_group/ar_webots_fms_ros2.git
git clone https://gitlab.mobird.dev/fms_group/ar_arm95_moveit_config.git
git clone https://gitlab.mobird.dev/fms_group/ar_aruco_detect_ros2.git
git clone https://gitlab.mobird.dev/fms_group/ar_dual_lidar_merge_ros2.git
git clone https://gitlab.mobird.dev/fms_group/ar_nav_ros2.git
cd ~/ros2_ws
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src -y --ignore-src --rosdistro jazzy
colcon build --symlink-install
```
Терминал 1 — штатный симулятор (один экземпляр):
```bash
fast-setup.md
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sudo apt update
sudo apt install -y git curl wget unzip xz-utils snapd locales software-properties-common ca-certificates gnupg python3 python3-pip python3-venv python3-dev build-essential openssh-client ffmpeg libgl1 libglib2.0-0 mesa-utils v4l-utils iputils-ping pciutils ubuntu-drivers-common
sudo apt install -y git curl wget unzip xz-utils snapd ca-certificates python3 python3-pip python3-venv python3-dev build-essential openssh-client ffmpeg libgl1 libglib2.0-0 mesa-utils v4l-utils iputils-ping pciutils
sudo snap install code --classic
export PATH="/snap/bin:$PATH"
@@ -24,39 +24,7 @@ export NVM_DIR="$HOME/.nvm"
nvm install --lts
nvm use --lts
curl -fsSL https://opencode.ai/install | bash
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo add-apt-repository universe -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F 'tag_name' | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt update
sudo apt install -y ros-jazzy-desktop ros-jazzy-rmw-fastrtps-cpp ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-moveit ros-jazzy-tf2-tools ros-jazzy-cv-bridge ros-jazzy-image-transport ros-jazzy-webots-ros2 python3-colcon-common-extensions python3-rosdep ros-dev-tools
sudo install -d /etc/apt/keyrings
sudo wget -q -O /etc/apt/keyrings/Cyberbotics.asc https://cyberbotics.com/Cyberbotics.asc
echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" | sudo tee /etc/apt/sources.list.d/Cyberbotics.list
sudo apt update
sudo apt install -y webots
if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then sudo rosdep init; fi
rosdep update
mkdir -p "$HOME/ros2_ws/src"
cd "$HOME/ros2_ws/src"
test -d ar_webots_fms_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_webots_fms_ros2.git
test -d ar_arm95_moveit_config/.git || git clone https://gitlab.mobird.dev/fms_group/ar_arm95_moveit_config.git
test -d ar_aruco_detect_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_aruco_detect_ros2.git
test -d ar_dual_lidar_merge_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_dual_lidar_merge_ros2.git
test -d ar_nav_ros2/.git || git clone https://gitlab.mobird.dev/fms_group/ar_nav_ros2.git
cd "$HOME/ros2_ws"
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src -y --ignore-src --rosdistro jazzy
colcon build --symlink-install
source "$HOME/ros2_ws/install/setup.bash"
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
@@ -79,7 +47,6 @@ python3 --version
node --version
npm --version
bun --version
opencode --version
ros2 --help >/dev/null
webots --version
nvidia-smi