Installation

This project is designed for ROS2 Jazzy. Any computer running Ubuntu 24.04 is recommended; however, only x86 PCs (such as Intel NUC) have been tested.

Prerequisites

1. Install ROS2
2. Install NAV2
3. Install Webots
4. Install the following packages:

sudo apt install libprotobuf-dev libgrpc++-dev protobuf-compiler-grpc ros-jazzy-rtabmap-ros ros-jazzy-imu-transformer ros-jazzy-webots-ros

Build

After installing all dependencies, clone the project and run the following commands:

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone --recurse-submodules https://gitlab.com/yukaitung/lgdxrobot2-ros2
cd ..
colcon build