Installation

From source

Into a colcon workspace:

mkdir -p ~/ws/src
cd ~/ws/src
git clone https://github.com/HonuRobotics/bluerobotics_models.git
cd ~/ws
rosdep update
rosdep install --from-paths src --ignore-packages-from-source --default-yes
colcon build --merge-install
source install/setup.bash

Tip

rosdep update refreshes the dependency database; skipping it in fresh containers is the usual cause of “Cannot locate rosdep definition” errors.

The project standard is colcon build --merge-install (one deb style prefix, the layout users get from binary installs). The default isolated layout also works if you prefer it.

The build generates the default vehicle artifacts from each vehicle’s config (the URDF, the composed Gazebo model, the ros_gz bridge config); see Design for what is generated where.

From ROS packages (debs)

Binary packages (ros-<distro>-blueboat-gazebo, ros-<distro>-bluerov2-gazebo, the *-description packages, ros-<distro>-bluerobotics-parts, …) are planned for the ROS build farm and are not published yet. When they are, installation is one package per vehicle you want:

sudo apt install ros-lyrical-blueboat-gazebo ros-lyrical-bluerov2-gazebo
source /opt/ros/lyrical/setup.bash
ros2 launch blueboat_gazebo sim.launch.xml    # the boat
ros2 launch bluerov2_gazebo sim.launch.xml    # or the ROV

Nothing under /opt/ros is meant to be edited. The default vehicle is baked into the packages; a custom config is a YAML file anywhere on disk passed to the launch (config_file:=), which regenerates every artifact at launch time. See Configuring an installed vehicle.