Z1 Pre-requisite System¶
[Ubuntu 20.04 - ROS NOETIC]¶
The ROS driver for the robots is initially supported for the
Care should be taken when installing theROS so that it matches with your CPU’s architecture (i.e. armhf, amd64, arm6, etc.)
ROS Noetic installation requires Ubutnu 20.04.
- Download Ubuntu 20.04
- Follow the Ubuntu 20.04 Installation guide
The ros driver provided must run on a PC. You may run the following commands to install ROS noetic or you can simply follow the instructions from the roswiki.
- Enter the Ubuntu terminal and typie in the following command:
- The next step is setting up the source list:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- After which you will set up the keys:
sudo apt install curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
- Then, you will install ROS-noetic:
sudo apt update sudo apt install ros-noetic-desktop-full
- Finally, you will add ROS environment to your bash file, what this means is that each time you load up your terminal, it will automatically find the built-in ROS packages.
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc source ~/.bashrc
- Install python dependencies and initialize repo:
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential sudo rosdep init rosdep update
Once the ROS packages are set-up the next step would be to set up a workspace in which you can add pre-built packages to control your robot.
- The first step is to ensure that you have correctly setup you ROS noetic. It can be checked by:
cd .. source /opt/ros/noetic/setup.bash
- Next, install catkin_tools:
sudo apt install python3-catkin-tools
- The next step is to create, your workspace. This is typically created
in the home directory following the standard ROS convention, once
built, you should see a
develfolder next to your
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin build
- To enable the workspace, you must type in:
- To avoid typing this everytime you start a terminal, you’ll add this
last lineof the bashrc file:
- Add the following line at the end of the bashrc file:
- Everytime you do a
catkin build, it is necessary to either restart all your terminals, or source them.
- To verify that everything is working correctly, type the following into the terminal:
Z1 Installation Package¶
To acquire Z1 package with installation script please email firstname.lastname@example.org with
your subject as
Z1 GitHub Access, your
GitHub ID and your