ROS_Environment_Setup.md

ROS Environment Setup on Local Desktop with Conda

Refer to: RoboStack Installation for complete instruction.

Install Miniconda if you haven't

Follow the official Miniconda Installation Guide to install Miniconda.

Install mamba in the base environment

conda install mamba -c conda-forge

Install ROS1 into the environment

• Create a new ROS conda environment with Python 3.11

conda create -n ros python=3.11

• Activate the new environment

conda activate ros

• Install ROS1

# adds the conda-forge channel to the new created environment configuration
conda config --env --add channels conda-forge

# and the robostack 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 ROS1
mamba install ros-noetic-desktop

• Reactivate the environment to initialize the ros env

conda deactivate
conda activate ros

Install Python packages

python -m pip install --no-cache-dir -r requirements_ros_conda.txt

Testing ROS Installation

After installation you are able to run rviz and other ros tools.

• First terminal: start roscore

  mamba activate ros_env
  roscore

• Second terminal: start rviz

  mamba activate ros_env
  rviz