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Installation Guides

Ubuntu 22.04 LTS Setup​

Dual-Boot Installation​

  1. Download Ubuntu 22.04 LTS ISO from ubuntu.com
  2. Create bootable USB using Rufus (Windows) or Startup Disk Creator (Ubuntu)
  3. Boot from USB and select "Install Ubuntu"
  4. Follow installation wizard, ensuring at least 50GB free space
  5. Reboot and select Ubuntu from boot menu

WSL2 Setup (Windows)​

  1. Enable WSL2 in Windows Features: 
    wsl --install
  2. Install Ubuntu 22.04 from Microsoft Store
  3. Launch Ubuntu and create user account
  4. Update packages: 
    sudo apt update && sudo apt upgrade

Virtual Machine Setup​

  1. Install VirtualBox or VMware Workstation
  2. Create new VM with:
    • 8+ GB RAM
    • 4+ CPU cores
    • 50+ GB storage
    • Enable 3D acceleration
  3. Install Ubuntu 22.04 LTS

ROS 2 Humble Hawksbill Installation​

  1. Set locale: 
    sudo locale-gen en_US.UTF-8
  2. Add ROS 2 apt repository: 
    sudo apt update && sudo apt install curl gnupg lsb-release
    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
  3. Install ROS 2 packages: 
    sudo apt update
    sudo apt install ros-humble-desktop-full
  4. Source ROS 2: 
    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
    source ~/.bashrc

Verification​

Test installation with:

ros2 run demo_nodes_cpp talker

Isaac Sim Installation​

Prerequisites​

  1. NVIDIA GPU with RTX series (recommended) or GTX 1080+
  2. NVIDIA Driver 535 or newer
  3. CUDA 11.8 or 12.x installed

Installation Steps​

  1. Download Isaac Sim from NVIDIA Developer
  2. Extract to desired location
  3. Run setup: 
    cd isaac-sim
    python -m pip install -e .
  4. Launch Isaac Sim: 
    python -m omni.isaac.sim.release.setup

Docker Installation​

Ubuntu/Debian​

sudo apt update
sudo apt install ca-certificates curl gnupg lsb-release
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt update
sudo apt install docker-ce docker-ce-cli containerd.io docker-compose-plugin
sudo usermod -aG docker $USER

Verification​

docker run hello-world

Python Environment Setup​

python3 -m venv robobook_env
source robobook_env/bin/activate
pip install --upgrade pip

Required Python Packages​

pip install rclpy numpy matplotlib openai-whisper

Verification Steps​

ROS 2 Test​

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker &
ros2 run demo_nodes_cpp listener

System Check​

Run the following to verify your system is ready:

echo "ROS 2 Installation: $(ros2 --version)"
echo "Python Version: $(python3 --version)"
echo "Docker: $(docker --version)"
echo "Git: $(git --version)"