Native installation of the ROS2 MRS UAV System
This guide shows how to install the ROS2 MRS UAV System natively.
Installation steps
1. Install the Robot Operating System (Jazzy)
Follow the Installation guide.
2. Install the MRS UAV Core
Add the Personal Package Archive (PPA) for unstable ROS2 MRS deb packages:
curl https://ctu-mrs.github.io/ppa2-unstable/add_ppa.sh | bash
sudo apt update
Install the MRS UAV System deb packages and dependencies:
sudo apt install ros-jazzy-mrs-uav-core
2. Set Zenoh to be the used RMW implementation
Add to ~/.bashrc (~/.zshrc):
export RMW_IMPLEMENTATION="rmw_zenoh_cpp"
Source ~/.bashrc (~/.zshrc):
source ~/.bashrc
3. Run the multirotor simulation session to verify the installation
cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/mrs_one_drone
./start.sh