ROS2 RoboStack

Intro

RoboStack | paper

Welcome to RoboStack - a bundling of the Robot Operating System (ROS) by Open Robotics for Linux, Mac and Windows using the Conda package manager. We provide ROS packages for ROS1 Noetic and ROS2 Humble (as well as unsupported Melodic/Foxy/Galactic packages), as well as a variety of ROS related plugins for Jupyter notebooks.

ROS2 on Mac using RoboStack

”After installing from robostack, install the ros-humble-gazebo-ros and ros-humble-gazebo-ros-pkgs, that will get you ros2 run gazebo_ros.” https://www.reddit.com/r/ROS/comments/18kt35s/running_gazebo_on_mac_with_robostack/

Install Conda environment

• Install Miniconda

mkdir -p ~/miniconda3
curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh

• Create env

conda create -n ros_env python=3.11
conda activate ros_env

# this adds the conda-forge channel to the new created environment configuration 
conda config --env --add channels conda-forge
# and the robostack-staging channel
conda config --env --add channels robostack-staging
# remove the defaults channel just in case, this might return an error if it is not in the list which is ok
conda config --env --remove channels defaults

Install ROS

• Install ros-humble into the environment (ROS2 Humble)

conda install ros-humble-desktop

• Reactivate the environment to initialize the ros env

conda deactivate
conda activate ros_env

• Install ROS tools

conda install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools rosdep

Test install (Rviz)

conda activate ros_env
rviz2

Install Gazebo

• Install Gazebo in base env (not ros2)

conda deactivate ros_env

• Default installation: one-liner

curl -ssL http://get.gazebosim.org | sh

• Update Homebrew and check for issues:

brew update
brew doctor

• Run Gazebo in a new terminal

gazebo

ROS Integration with Gazebo

• Install gazebo-ros-pkgs

conda install -c robostack ros-humble-gazebo-ros-pkgs

• Test the set up by launching a simple Gazebo world with ROS2

ros2 launch gazebo_ros gazebo.launch.py