Dependencies

Micro-XRCE-DDS (include FastRTPS)

Please refer to this link for detail install information.

• Install Micro-XRCE-DDS(Agent & Client) on your SBC.

  $ sudo apt update && sudo apt install build-essential cmake git
  

  $ cd && git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
  $ cd Micro-XRCE-DDS-Agent && git checkout a495c65faa964ddc068ac6e1249f17f5c9f92787
  $ mkdir build && cd build
  $ cmake -DTHIRDPARTY=ON -DCONFIG_UDP_TRANSPORT_MTU=8192 -DCONFIG_SERIAL_TRANSPORT_MTU=8192 ..
  $ sudo make install
  $ mkdir ~/turtlebot3
  $ cp ../DEFAULT_FASTRTPS_PROFILES.xml ~/turtlebot3
  $ sudo ldconfig /usr/local/lib/
  

  $ cd && git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
  $ cd Micro-XRCE-DDS-Client && git checkout 4549ef06040db30532604473f9aac20f9ad1559f
  $ nano client.config       #change value parameter below
          CONFIG_UDP_TRANSPORT_MTU=8192
  $ mkdir build && cd build
  $ cmake -DTHIRDPARTY=ON ..
  $ sudo make install
  

Install dependencies for OpenCR

• Install udev rules for OpenCR

  $ sudo apt update && sudo apt install wget
  $ cd /etc/udev/rules.d/
  $ sudo wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/99-opencr-cdc.rules
  $ sudo udevadm control --reload-rules
  $ sudo udevadm trigger
  

Install dependencies for LDS

• Install udev rules for LDS

  $ sudo apt update && sudo apt install wget
  $ cd /etc/udev/rules.d/
  $ sudo wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_bringup/99-turtlebot3-cdc.rules
  $ sudo udevadm control --reload-rules
  $ sudo udevadm trigger
  

• Install boost library

  $ sudo apt install libboost-all-dev
  

• Install ntpdate

  $ sudo apt install ntpdate
  

Build LIDAR Client

• Download LIDAR Micro-XRCE-DDS Client source

  $ cd ~/Micro-XRCE-DDS-Client/examples
  $ wget https://github.com/ROBOTIS-GIT/turtlebot3/raw/ros2/turtlebot3_lidar/turtlebot3_lidar.tar.bz2
  $ tar -xvjf ./turtlebot3_lidar.tar.bz2
  

• Modify CMakeLists.txt for add LIDAR client for build it.

  $ cd ~/Micro-XRCE-DDS-Client
  $ nano CMakeLists.txt    #Add the bold line below.
  

  249 lines

  if(EPROSIMA_BUILD_EXAMPLES)
  …
  add_subdirectory(examples/turtlebot3_lidar)
  …
  endif()

• Build turtlebot3_lidar

  $ cd ~/Micro-XRCE-DDS-Client/build
  $ cmake -DTHIRDPARTY=ON -DEPROSIMA_BUILD_EXAMPLES=ON ..
  $ sudo make install
  $ cp ./examples/turtlebot3_lidar/turtlebot3_lidar ~/turtlebot3