Configure your environment

You can install ROS 2.0 in today's main platforms - Windows, Linux and OSX - and have two options to do so. Via binary packages or building from source. Here we provide some links to the official documentation:

Create a ROS 2.0 workspace, for example:

mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws/src
git clone
git clone -b ros2
git clone
git clone -b crystal
git clone -b ros2
git clone -b ros2
sudo apt install -y python3-numpy gazebo9* libgazebo9-dev

Generate HRIM dependencies:

sudo apt-get install python-lxml
cd ~/ros2_mara_ws/src/HRIM
python generate models/actuator/servo/servo.xml
python generate models/actuator/gripper/gripper.xml

Optional note: If you want to use MoveIT! you need to source ROS 1.0 environment variables. Typically, if you have installed ROS Kinetic, you need to source the following file:

source /opt/ros/kinetic/setup.bash

Right now you can compile the code:

source /opt/ros/crystal/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install  

mkdir -p ~/ros_mara_ws/src
cd ~/ros_mara_ws/src
git clone
cd ~/ros_mara_ws/
catkin_make_isolated --install