Locally

Prerequisites

Software	Version
Linux Distro	Ubuntu 24.04
ROS 2 Distro	Jazzy
Gazebo Sim	Harmonic

Clone repository

Select the directory where the project will be locatedand and clone the project from GitHub:

git clone https://github.com/AJedancov/twr.git && 
cd twr

Install dependencies

You can install the required dependencies in several ways, choose one of them:

apt-getrosdep

sudo apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-navigation2 \
ros-${ROS_DISTRO}-slam-toolbox \
ros-${ROS_DISTRO}-ros2-control \
ros-${ROS_DISTRO}-ros2-controllers \
ros-${ROS_DISTRO}-robot-localization \
ros-${ROS_DISTRO}-ros-gz \
ros-${ROS_DISTRO}-gz-ros2-control \
ros-${ROS_DISTRO}-xacro \
ros-${ROS_DISTRO}-joint-state-publisher

sudo apt-get update \
&& rosdep update \
--rosdistro ${ROS_DISTRO} \
&& rosdep install -y \
--from-paths . \
--rosdistro ${ROS_DISTRO} \
--ignore-src

Build project

And finally, build the project:

colcon build

Once you have the project built, you can continue with the usage examples.