Set Up HomeR

Overview

Assume you have configured ROS development environment following the Configure ROS Environment (Post-Installation) guide. This guide will walk you through the whole process of setting up the HomeR using ROS. You can also repeat the guide over and over again to practice core ROS commands. The ``HomeR`` needs to be deployed on both RPi and **Host. Let’s get started from creating a ROS workspace.

Create ROS Workspace

Let’s create a ROS workspace under the $HOME directory with name ros2_ws.

$ cd ~  # change directory to $HOME
$ mkdir -p ros2_ws/src

Clone HomeR Project

Download all ROS packages for HomeR from Github.

$ cd ~/ros2_ws/src/
$ git clone https://github.com/linzhanguca/homer.git

Build homer_control package

Now, let’s build the homer_control package

$ cd ~/ros2_ws  # CRITICAL!!! BUILD HAS TO BE DONE IN WORKSPACE
$ colcon build
$ source ~/ros2_ws/install/local_setup.bash  # introduce your packages to ROS

Now, the HomeR is good to go.

Afterwards

If you don’t want to repeat introducing HomeR to ROS every time you start a new terminal, you can add source ~/ros2_ws/install/local_setup.bash to the ~/.bashrc file. Or, execute following command once.

$ echo "source ~/ros2_ws/install/local_setup.bash" >> ~/.bashrc

Reminder: set up HomeR on both RPi and Host.

Read the SLAM: Simultaneous Localization and Mapping and Autonomous Navigation with SLAM guide for more examples.