Installation of NXP Gazebo

Setting up SSH keys

To use NXP Gazebo, you will need to have a GitHub account. The installation scripts require a GitHub account with an SSH key.

Creating an SSH key

To create an SSH key, run the following in a terminal:

$ ssh-keygen

Follow the prompt. We suggest just pressing enter until you reach the end. It will be easier if you just use the default path for the id_rsa file and if you go without a passphrase (though you're welcome to use one!). You should get the output below. Note that the RSA key is not shown here for security reasons:

Next, you'll want to install xclip. This program will allow you to copy the contents of the id_rsa.pub file to your clipboard so you can paste it into GitHub. To install xclip, run the following command:

$ sudo apt install xclip git

Once you've installed xclip, you need to copy the id_rsa.pub file to your clipboard. To do so, run the following command:

$ xclip -sel clip < ~/.ssh/id_rsa.pub

Adding your SSH key to GitHub

Now, log into your GitHub account and paste your SSH key. The SSH key field is located in your account settings under "SSH and GPG keys". Add a new SSH key by pressing "New SSH key" and pasting your SSH key in the box. Make sure to give it a name!

Black Box added for security

Once you've done this, you're ready to begin installation.

Installing ROS2

To run NXP Gazebo, you must have ROS2 installed. This is an easy process - just follow the commands below:

$ mkdir ~/git
$ cd ~/git
$ git clone [e-mail]:rudislabs/nxp_install.git
$ chmod a+x nxp_install/install.sh
$ ./nxp_install/install.sh

And then source ROS2 by running the following command:

$ source ~/.bashrc

Installing NXP Gazebo

Cloning and running sim_gazebo_bringup

Installing NXP Gazebo has become much easier over time. With this new install process, you'll be up and running with NXP Gazebo in record time!

First, we need to create a ROS2 workspace directory to store the installation files. Go to your home folder and create a new folder called "ros2ws", and a folder inside of that called "src":

$ cd ~
$ mkdir -p ros2ws/src && cd ros2ws/src

Once you are in the directory ~/ros2ws/src, it's time to clone the bringup repo. The bringup repo contains code that sets up the workspace for you automatically. To clone it, run the following command:

$ git clone [e-mail]:rudislabs/sim_ignition_bringup.git

When git prompts you to continue connecting with your RSA fingerprint, type yes:

Next, we are going to run sim_ignition_bringup. To do this, run the following commands:

$ cd ~/ros2ws
$ colcon build --packages-select sim_ignition_bringup --symlink-install
$ echo "source /home/$USER/ros2ws/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Now that we have the bringup package set up, we can start installing all of the NXP Gazebo packages. Run the following command:

$ ros2 launch sim_ignition_bringup sim_ignition.launch.py

You're finished installing NXP Gazebo!

Now that you have successfully installed NXP Gazebo, you can return to the Milestone 1 page. Use the link below to do so.

Milestone 1 - Intro to NXP Gazebo and ROS