native_build.md

Building the SVEA Stack Natively

System Requirements

This library is developed on and intended for systems running:

1. Ubuntu 24.04 (installation tutorial here)
2. ROS2 Jazzy (installation instructions here)

If you do not want to install Ubuntu onto your computer, consider installing a virtual machine or use docker with Ubuntu 24.04 images.

Install python dependencies by calling:

pip install --break-system-packages -r requirements.txt

The installation instructions later on will use colcon build instead of ament_make, so you should also install colcon using apt-get.

If you had a pre-existing ROS2 Jazzy installation, please run:

sudo apt update
sudo apt upgrade

before continuing onto installing the library.

Installing the library

Start by going to the folder where you want the code to reside. For example, choose the home directory or a directory for keeping projects in. Once you are in the chosen directory, use the command:

git clone https://github.com/KTH-SML/svea

to download the library. Then, a new directory will appear called ./svea. Go into the directory with command:

cd svea

To install all of the ROS dependencies that you are missing for this library run:

rosdep install --from-paths src --ignore-src -r -y

Finally, compile and link the libraries using:

colcon build --symlink-install
source install/setup.bash

To make sure the libraries are linked in the future, also call (you need to replace <path-to-svea> with the file path to wherever you cloned "svea", e.g. /home/nvidia/svea/install/setup.bash):

echo "source <path-to-svea>/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Note, you only need to do this once.