Ubuntu installation

In order to run the public simulation of TIAGo OMNI Base it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows

wget http://releases.ubuntu.com/20.04/ubuntu-20.04.5-desktop-amd64.iso

Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.

ROS installation

Set up ROS packages sources

In order to install the required ROS packages for running TIAGo OMNI Base simulation first, as explained in ROS Noetic installation, it is required to include packages.ros.org in the debian sources:

sudo apt update
sudo apt install lsb-release # if you haven't already installed lsb-release
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

The set up the required keys to access the debian sources:

sudo apt install curl gnupg # if you haven't already installed curl or gnupg
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS packages installation

install use the following instruction

sudo apt-get update
sudo apt-get install git wget python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3

Append the following command to ~/.bashrc to allow any console to use the catkin commands

```
source /opt/ros/noetic/setup.bash
```

Source-based installation

Currently, source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all, open a terminal and create an empty workspace:

mkdir ~/omni_base_public_ws
cd ~/omni_base_public_ws

Then run the following instruction in order to download the common_public-noetic.rosinstall, omni_base_public-noetic.rosinstall and clone all the required repositories within the workspace:

wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/noetic-devel/common_public-noetic.rosinstall
wget https://raw.githubusercontent.com/pal-robotics/omni_base_tutorials/noetic-devel/omni_base_public-noetic.rosinstall
rosinstall src /opt/ros/noetic common_public-noetic.rosinstall
rosinstall src /opt/ros/noetic omni_base_public-noetic.rosinstall

Then run this command to make sure that all dependencies are installed.

```
sudo rosdep init
rosdep update
```

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

rosdep install -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "omni_drive_controller urdf_test pal_filters speed_limit_node hokuyo_node pal_loc_measure pal_map_manager"

Then, you may proceed building the workspace:

source /opt/ros/noetic/setup.bash
catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)

Once you compiled all packages and source the environment (source ~/tiago_omni_base_public_ws/devel/setup.bash) and it's all ready to go.