stage_ros2

Package which contains ROS2 specific hooks and tools for the Stage simulator. This version was forked from this https://github.com/Navifra-Sally/stage_ros2 and underwent small modifications by Rui P. Rocha to be used in ROS2 Humble and ROS2 Jazzy distributions.

Required library that needs to be compiled from source

Dependency that needs to be installed in ROS Humble before compilation

sudo apt-get install libfltk1.1

Dependencies that need to be installed in in ROS Jazzy before compilation

sudo apt install libltdl-dev libboost-thread-dev

Also download and install from .deb files:

• libfltk1.1_1.1.10-26ubuntu2_amd64.deb

• libfltk1.1-dev_1.1.10-26ubuntu2_amd64.deb

sudo apt install ./libfltk1.1_1.1.10-26ubuntu2_amd64.deb

sudo apt install ./libfltk1.1-dev_1.1.10-26ubuntu2_amd64.deb

Cloning and compiling the Stage library

git clone https://github.com/rtv/Stage.git ~/Stage
cd ~/Stage
mkdir build && cd build
cmake ..
make && sudo make install

Build ROS2 Stage wrapper

cd ~/your_ws/src/
git clone https://github.com/ruipaulorocha/stage_ros2.git # stage_ros2 wrapper
cd ~/your_ws/
colcon build

Launch ROS2 Stage wrapper

cd ~
source .bashrc

# ros2 run stage_ros2 stageros (world file Absolute path)
ros2 run stage_ros2 stageros ~/your_ws/install/stage_ros2/share/stage_ros2/world/willow-erratic.world