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Installation using Pixi

image

Pixi can install different versions of ROS2! Quickly! In a virtual environment! Please check out their fantastic work and documentation.

0. Install Pixi

curl -fsSL https://pixi.sh/install.sh | sh

1. Download the workspace

git clone https://github.com/2lian/Motion-Stack.git
cd Motion-Stack

2. Install dependencies and build

Pixi will install all dependencies including ROS into a virtual environment, this evironment is defined by our pixi.toml. The run build command then calls colcon build using the venv.

pixi install # (optional)
pixi run -e default build

You are all set!

Using Pixi, you can follow this documentation as normal. Simply type ``pixi run …`` before the commands you want to run. Or easier, activate the pixi environment by running pixi shell.

You can launch the Moonbot Zero:

# Terminal 1
pixi run ros2 launch motion_stack moonbot_zero.launch.py
# Terminal 2
pixi run ros2 launch motion_stack rviz_simu.launch.py

And have fun with the Operator TUI.

# Terminal 3
pixi run bash operator.bash

(Preview) Conda package

We are working on distributing binaries (x86, aarch64) through Conda packages thanks to Pixi and RoboStack. The motion stack binaries are hosted here and installation can be as simple as:

pixi init my_workspace -c https://prefix.dev/motion-stack -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-jazzy
pixi add ros-jazzy-motion-stack ros-jazzy-ms-operator ros-jazzy-motion-stack-tuto

Installation from source

0. Install ROS2

Install ROS2:

NOTE

The core of the Motion-Stack is pure python, ROS2 is the (only) communication interface (for now). If you are a developer wanting to use something else instead of ROS2 (pure async python for minimal overhead, Zenoh …), you could develop your own interface.

1. Download the workspace

This documentation now assumes your workspace and working directory is ~/Motion-Stack. Alternatively you can copy the contents of ./src into another workspace.

git clone https://github.com/2lian/Motion-Stack.git
cd Motion-Stack

2. Install ROS dependencies with rosdep

# source ros here
cd ~/Motion-Stack
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r

3. Install Python dependencies

(Optional) Create and activate a venv

# source ros here
cd ~/Motion-Stack
python3 -m venv --system-site-packages ./.venv
. ./.venv/bin/activate
python3 -m pip install --upgrade pip wheel

Install using pip

# source ros here
# source venv here if used
cd ~/Motion-Stack/src/motion_stack/
python3 -m pip install .
python3 -m pip uninstall motion_stack  # colcon will install it

IMPORTANT

You might need to use: python3 -m pip install . --force-reinstall --upgrade. It often works better.

4. Build the workspace

# source ros here
# source venv here if used
cd ~/Motion-Stack
python3 -m colcon build --symlink-install
# You can now source the workspace
source ./install/setup.bash

You are all set!

You can launch the Moonbot Zero:

# Terminal 1
# source your workspace and venv here
ros2 launch motion_stack moonbot_zero.launch.py
# Terminal 2
# source your workspace and venv here
ros2 launch motion_stack rviz_simu.launch.py

And have fun with the Operator TUI.

# Terminal 3
# source your workspace and venv here
bash operator.bash