Compling

This tutorial assumes that Ubuntu 24.04 LTS has already been installed.

Prerequisites

Install ROS 2 Jazzy ensure that the development tools are installed.

Build

Clone the project and run the following commands:

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone --recurse-submodules https://gitlab.com/lgdxrobotics/lgdxrobot2-ros2.git
cd ..

# Remove Cloud Adapter
rm -rf ~/lgdx_ws/src/lgdxrobot2-ros2/third_party/cloud/lgdxrobot_cloud_adapter
rm -rf ~/lgdx_ws/src/lgdxrobot2-ros2/third_party/cloud/third_party

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

# Ensure that interfaces are in the system
colcon build --packages-select lgdxrobot2_msgs --symlink-install
colcon build --packages-select lgdxrobot_cloud_msgs --symlink-install
source install/setup.bash

colcon build --symlink-install

Configuration

First, configure the permissions for the hardwares.

source ~/lgdx_ws/src/lgdxrobot2-ros2/third_party/lidar/scripts/create_udev_rules.sh
sudo usermod -a -G dialout $USER

Then, source the setup files for the ROS 2 workspaces.

source ~/lgdx_ws/install/setup.bash