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Build Instructions

1. Platform

  • Ubuntu 18.04

2. Manual Build Steps

  • The instructions are to build Navigation2 package and its dependency packages.
  • To build Navigation2 package from script, kindly refer QuickStart.
  • To build Navigation2 package for master branch, select the latest ROS2 distro in place of ros2-distro-name during rosdep install.
  • To build Navigation2 package for specific distro branch (e.g- dashing-devel), select the matching ROS2 distro in place of ros2-distro-name during rosdep install.

2.1 ROS2

  • Install ROS2 with dependencies from the ROS2 Installation Page: https://index.ros.org/doc/ros2/Installation/
  • Install the latest distribution of ROS2 to support Navigation2 master.
  • ROS2 can be installed either from binary packages or build from source. Choose to build ROS2 from source to support Navigation2 master.

2.2 Navigation2 Dependencies

If ROS2 installed from source (Ignore if installed from binary packages)

$ source ~/ros2_ws/install/setup.bash

Fetch, build and install navigation2 dependencies:

$ mkdir -p ~/ros2_nav_dependencies_ws/src
$ cd ~/ros2_nav_dependencies_ws
$ wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/ros2_dependencies.repos
$ vcs import src < ros2_dependencies.repos
$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro-name>
e.g- ros2-distro-name = dashing
$ colcon build --symlink-install

2.3 Navigation2

Fetch, build and install navigation2 stack:

$ source ~/ros2_nav_dependencies_ws/install/setup.bash
$ mkdir -p ~/navigation2_ws/src
$ cd ~/navigation2_ws/src
$ git clone https://github.com/ros-planning/navigation2.git -b <nav2-branch-name>
e.g- nav2-branch-name = master
$ cd ~/navigation2_ws
$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro-name>
e.g- ros2-distro-name = dashing
$ colcon build --symlink-install

2.4 Turtlebot3

Turtlebot3 is one of the target robot platform to run navigation2. Ignore building Turtlebot3 packages if turtlebot3 is not your target.

If ROS2 installed from source (Ignore if installed from binary packages)

$ source ~/ros2_ws/install/setup.bash

Fetch, build and install turtlebot3 packages:

$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos
$ vcs import src < turtlebot3.repos
$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro-name>
e.g- ros2-distro-name = dashing
$ colcon build --symlink-install

3. Conclusion

After installation of Navigation2 and required dependencies, test Navigation2 by following steps in nav2_bringup README

4. Reporting Issue

If run into any issue, feel free to submit pull request or report issue in this project.

Quickstart using initial setup script

Steps

mkdir <directory_for_workspaces>
cd <directory_for_workspaces>
wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/initial_ros_setup.sh
chmod a+x initial_ros_setup.sh
./initial_ros_setup.sh

Summary of what's being done

The initial_ros_setup.sh script downloads four ROS workspaces and then builds them in the correct order. The four workspaces are:

  • ROS 2 release - This is the ROS 2 latest release as defined by the repos file found on [https://github.com/ros2/ros2/]

  • ROS 2 Dependencies - This is a set of ROS 2 packages that aren't included in the ROS 2 release yet, but which the navstack depends on. This also includes packages which are part of the ROS 2 release where we need a different version.

  • Navigation 2 - This repo.

After all the workspaces are downloaded, the navigation2/tools/build_all.sh script is run which builds each repo in the order listed above using the colcon build --symlink-install command.

Options

The initial_ros_setup.sh accepts the following options:

  • --no-ros2 This skips downloading and building the ROS 2 release. Instead it uses the binary packages and setup.sh installed in /opt/ros/bouncy
  • --download-only This skips the build steps

Use Case Recommendations

Developer

For developers, running the initial_ros_setup.sh once makes sense. After that, you'll typically want to maintain each repo manually using git.

Most work will be done in the navigation2 workspace, so just building that will save time.

To build just navigation2,

cd <directory_for_workspaces>/navigation2_ws
source ../ros2_nav_dependencies_ws/install/setup.sh
colcon build --symlink-install

In the case that the developer changes any dependencies, they can run <directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh in a clean environment to get everything rebuilt easily

Build System

An automated build system could make a clean directory and run the initial_ros_setup.sh script each time, however that will generate a lot of unneccessary load on the upstream repo servers, and result in very long builds.

Instead, it would be better to do an initial download of all the source and dependencies

./initial_ros_setup.sh --download-only

Then the CI tool can monitor the navigation2 repo, update it as necessary, and rebuild using either the <directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh script or by running

cd <directory_for_workspaces>/navigation2_ws/src/navigation2
source ../ros2_nav_dependencies_ws/install/setup.sh
colcon build --symlink-install