Installation

Pre-requisites

ROS2

Install a current version of ROS2 (i.e., foxy, galactic, humble, or iron), following the official instructions.

In case you opted for a minimal installation (ROS2-base), add the following packages: xacro, launch-xml, cv-bridge, launch-testing-ament-cmake, robot-state-publisher, joint-state-publisher-gui, joy, joy-teleop

sudo apt install \
ros-<ROS_DISTRO>-xacro \
ros-<ROS_DISTRO>-launch-xml \
ros-<ROS_DISTRO>-cv-bridge \
ros-<ROS_DISTRO>-launch-testing-ament-cmake \
ros-<ROS_DISTRO>-robot-state-publisher \
ros-<ROS_DISTRO>-joint-state-publisher \
ros-<ROS_DISTRO>-joint-state-publisher-gui \
ros-<ROS_DISTRO>-joy \
ros-<ROS_DISTRO>-joy-teleop \
ros-<ROS_DISTRO>-joy-linux

Install colcon

sudo apt install python3-colcon-common-extensions

Robomaster SDK

Install this fork of the official RoboMaster-SDK, which fixes some issues of the upstream repo.

Install its dependencies

sudo apt install libopus-dev python3-pip
python3 -m pip install -U numpy numpy-quaternion pyyaml

Install the RoboMaster-SDK

python3 -m pip install git+https://github.com/jeguzzi/RoboMaster-SDK.git
python3 -m pip install git+https://github.com/jeguzzi/RoboMaster-SDK.git#"egg=libmedia_codec&subdirectory=lib/libmedia_codec"

Robomaster ROS packages

In case you have none, create a colcon workspace where you want to build the packages,
```
mkdir -p <ros2_ws>/src
```

Clone this repository

cd <ros2_ws>/src
git clone https://github.com/jeguzzi/robomaster_ros.git

Built the packages.
```
cd <ros2_ws>
colcon build
```

Optional Runtime Dependencies

To conform to image_transport when streaming the camera images, install PyAV and ffmpeg_image_transport.

python3 -m pip install av
git clone https://github.com/berndpfrommer/ffmpeg_image_transport_msgs src/ffmpeg_image_transport_msgs
git clone https://github.com/berndpfrommer/ffmpeg_image_transport src/ffmpeg_image_transport
colcon build --packages-select ffmpeg_image_transport_msgs ffmpeg_image_transport

If you are running robomaster_ros on a different machine (e.g., a SCB connected to the robot), you can skip installing the image_transport plugin (i.e., ffmpeg_image_transport) as you only need the interfaces (i.e., ffmpeg_image_transport_msgs).