1.Installation

systems requirements:

• Ubuntu 16.04 and ROS Kinetics or Ubuntu 18.04 and ROS Melodic

If has all setp up, skip to 1.4

1.1 If using the VM for ubuntu:

step one: download the ORACLE VM VirtualBox download VM

steo two: choose one of the method

1. follow this guide to build from scratches : Create the VM for ubuntu

2. or directly download the Virtual Image

The ROS has been install in the image, and you can skip the left installation

1.2 Set up the ROS

Follow this official guide: Installation of ROS

If your systems is ubuntu 16.04, use Kinetics, if 18.04, then choose the Melodic. A brief steps to install ROS Melodic are as follows:

• Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

• Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

if failed, try:

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

• Update

sudo apt update

• Install

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception

sudo apt install ros-melodic-desktop-full

1.3 Create the workspace

ROS tutorial here: Creating a workspace for catkin

mkdir lynx_ws/src
cd mkdir lynx_ws/src
git clone https://github.com/yuwei-wu/Motion-Planning-for-Lynx.git
catkin_make

remember to source or add path in .bashrc file

source devel/setup.bash
source /opt/ros/kinetic/setup.bash

1.4 Clone ths repo in the /src directory of your workspace

in the terminal:

git clone https://github.com/yuwei-wu/Motion-Planning-for-Lynx.git

then:

cd ..
catkin_make