Getting Started

First time setup

# Install ROS2 in Docker
docker run --rm -it -v $PWD:/src osrf/ros:humble-desktop-full
cd /src

# Update Colcon mixins
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update

# Install dependencies
rosdep update
rosdep install -iy --from-path src

# Compile Librealsense with custom flags
# TODO: why from source; why CUDA flags; why not check for updates
colcon build --packages-select librealsense2 --cmake-args \
  -DBUILD_WITH_CUDA=ON                                    \
  -DCMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc          \
  -DCHECK_FOR_UPDATES=OFF                                 \
  -DFORCE_RSUSB_BACKEND=ON

TODO: graphics passthrough

Common operations

Compile

While working on a package, you'll frequently want to compile it and all its dependencies:

colcon build --packages-up-to=$PACKAGE

Run your code

ros2 run $PACKAGE $EXECUTABLE
# -- or --
ros2 launch $PACKAGE $LAUNCH_FILE