Installation Guide

# Set locale
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# Add ROS2 apt repository
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Install ROS2
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

# Create workspace
mkdir -p ~/xterra_ws/src
cd ~/xterra_ws/src

# Clone xTerra packages
git clone https://github.com/xterra-robotics/xterra_ros2.git

# Install dependencies
cd ~/xterra_ws
rosdep install --from-paths src --ignore-src -r -y

# Build workspace
colcon build --symlink-install

# Source the workspace
echo "source ~/xterra_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

# Set ROS domain ID (use same on robot and workstation)
export ROS_DOMAIN_ID=42

# For multi-machine setup
export ROS_LOCALHOST_ONLY=0

# Check ROS2 installation
ros2 --version

# List available topics
ros2 topic list

# Check xTerra packages
ros2 pkg list | grep xterra