HeRo 2.0

Software guide

Install ROS

Step 1 of 4. Clone the catkin workspace, then pick Docker or compile from source. Tested on ROS 1 Melodic and Noetic.

What you need

  • ROS 1 — Melodic or Noetic
  • rosserial
  • Gazebo and Qt if you will run the Gazebo simulator later
  • Python 3.10–3.13 if you will run Genesis World (NVIDIA CUDA recommended; CPU works)

The Arduino IDE is only needed in the next step, when you flash the ESP8266.

Docker

If Docker is not installed yet, follow the NVIDIA container toolkit guide (or the official Docker docs).

Clone the repository and build the ROS 1 image:

$ git clone https://github.com/verlab/hero_common.git
$ cd hero_common/hero_common
$ docker-compose build ros1

Build from source

If you do not have a catkin workspace yet, follow the ROS install and workspace tutorials, then clone into src:

$ cd ~/catkin_ws/src
$ git clone --depth 1 --branch noetic-devel https://github.com/verlab/hero_common.git

Install dependencies and compile:

$ cd ~/catkin_ws
$ rosdep install --from-paths src/hero_common --ignore-src -r -y
$ catkin_make
$ source devel/setup.bash