🖥️ Local Machine installation (Direct install)

This tutorial will walk you through the setup required to make a host machine ready to build and run the Dave simulations. Note that:

your host will need to satisfy the minimum system requirement
- A modern multi-core CPU, e.g. Intel Core i5
- 8 Gb of RAM
- A discrete Graphics Card, e.g. Nvidia GTX 650
  - The environment can be run without a GPU, but the Gazebo simulation will run much faster (should run in real-time) with access to a GPU. Without a GPU the simulation is likely to run slower than real-time.
The steps below assume you are running Linux system with Ubuntu 24.04 (Noble).
- For Mac with Apple Silicons (e.g. M1) installing it natively would cause many problems to run tutorials (It is not recommended!). Alternatives are:
  - VMware Fusion PRO(Free) Virtual Ubuntu : https://blogs.vmware.com/teamfusion/2024/05/fusion-pro-now-available-free-for-personal-use.html
    - Make sure you set Disk Space more than 50GB
  - Docker. Go to 📦 For Mac with Apple Silicons (e.g. M1)
- For Windows, go to 💻 Windows Machine (X86 64bit)

🚀 One-liner installation script (Auto install)

<aside> 💡 Depending on the machine, it may take more than an hour to finish.

</aside>

▶️ For Linux Systems (Ubuntu 24.04 Noble)

Type following code lines in terminal window. It will auto install what is required for the Dave (ROS-Gazebo framework)
```
sudo /bin/bash -c "$(wget -qO- <https://raw.githubusercontent.com/IOES-Lab/dave/refs/heads/ros2/extras/ros-jazzy-gz-harmonic-install.sh>)"
```
- To understand what it does, look for the manual installation below
- Move to 🔎 Verify ROS-Gazebo Framework setup

▶️ For Mac OS X (Apple Silicon, e.g. M1)

Type following code lines in terminal window. It will auto install what is required for the Dave (ROS-Gazebo framework)
```
/bin/bash -c "$(curl -fsSL <https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/install.sh>)"
```
- Activate virtual environment and move to 🔎 Verify ROS-Gazebo Framework setup

🛠️ Manual Installation

🚧 Install all dependencies

Upgrade to the latest packages:
```
sudo apt update
sudo apt full-upgrade
```

Install required tools:

sudo apt install -y build-essential colcon cmake cppcheck curl git gnupg libeigen3-dev libgles2-mesa-dev lsb-release pkg-config protobuf-compiler python3-dbg python3-pip python3-venv qtbase5-dev ruby software-properties-common sudo wget

🏗️ Install required ROS 2 and Gazebo Harmonic Packages

Install package signing keys

# ROS 2 key
export ROS_APT_SOURCE_VERSION=$(curl -s <https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest> | grep -F "tag_name" | awk -F\\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "<https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$>(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

# Gazebo key
sudo wget <https://packages.osrfoundation.org/gazebo.gpg> -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] <http://packages.osrfoundation.org/gazebo/ubuntu-stable> $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

# Update packages
sudo apt update

# Set versions to install
DIST=jazzy
GAZEBO=gz-harmonic