Installation & Setup

This page walks through the base environment setup required across all e-Yantra projects.

WARNING

Each project may have additional dependencies. Always check your specific project page after completing this base setup.

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System Requirements

Requirement	Minimum
OS	Ubuntu 22.04 LTS
RAM	8 GB
Disk	30 GB free
ROS	ROS 2 Humble

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Step 1 — Install ROS 2 Humble

Ubuntu 22.04

# Set locale
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8

# Add ROS 2 apt repo
sudo apt install software-properties-common curl
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

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

Docker

docker pull osrf/ros:humble-desktop

docker run -it \
  --env="DISPLAY" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
  osrf/ros:humble-desktop

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Step 2 — Source ROS 2

Add this to your ~/.bashrc so it loads in every terminal:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

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Step 3 — Clone a Project Repository

git clone <project-repo-url>
cd <project-folder>
pip install -r requirements.txt

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Step 4 — Verify Setup

ros2 doctor

Success

If ros2 doctor reports no errors, your base environment is ready. Proceed to your project page for project-specific setup.

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Troubleshooting

ros2: command not found

ROS 2 is not sourced. Run:

source /opt/ros/humble/setup.bash

Then add the line to ~/.bashrc as shown in Step 2.

Gazebo fails to open / black screen

This is usually a GPU driver issue. Try running Gazebo with software rendering:

export LIBGL_ALWAYS_SOFTWARE=1
gazebo