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 https://github.com/AcutronicRobotics/MARA
git clone https://github.com/ros-simulation/gazebo_ros_pkgs -b ros2
git clone https://github.com/erlerobot/HRIM/
git clone https://github.com/erlerobot/control_msgs -b crystal
git clone https://github.com/ros-perception/image_common -b ros2
git clone https://github.com/ros-perception/vision_opencv -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 hrim.py generate models/actuator/servo/servo.xml
python hrim.py 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 https://github.com/AcutronicRobotics/MARA_ROS1
cd ~/ros_mara_ws/
catkin_make_isolated --install