https://github.com/leehyeonbeen/ros-slam-applesilicon
ROS with Turtlebot3 SLAM Simulation installation for Apple Silicon (M1, M2) users
https://github.com/leehyeonbeen/ros-slam-applesilicon
applesilicon arm arm64 gazebo m1 m1-mac macos macosx ros rviz slam turtlebot3
Last synced: 6 months ago
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ROS with Turtlebot3 SLAM Simulation installation for Apple Silicon (M1, M2) users
- Host: GitHub
- URL: https://github.com/leehyeonbeen/ros-slam-applesilicon
- Owner: leehyeonbeen
- License: mit
- Created: 2023-10-27T07:19:27.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-10-31T06:31:50.000Z (over 1 year ago)
- Last Synced: 2024-12-04T05:51:48.348Z (6 months ago)
- Topics: applesilicon, arm, arm64, gazebo, m1, m1-mac, macos, macosx, ros, rviz, slam, turtlebot3
- Language: Shell
- Homepage:
- Size: 59.6 KB
- Stars: 3
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS-SLAM-AppleSilicon
## This repo is tested for ROS-Noetic on Ubuntu 20.04 only.
I have struggled several weeks to run Turtlebot3 SLAM simulations with ROS-Noetic on my M1 MacBook Pro, and here is the ***ultimate solution.***
To the best of my knowledge and experience, **connecting Remote Desktop to VMware-running Ubuntu** was the only fully-successful option.
I've also tried other options including:
1. Dual-booting to native Asahi-Ubuntu
2. XQuartz-forwarding to Ubuntu Docker container
3. Remote Desktop connecting to Ubuntu Docker container
But after all, these ***DID NOT*** successfully run Gazebo and other required applications.
# Step 1: Install VMware Fusion and RDP client
[Download Remote Desktop Client](https://apps.apple.com/kr/app/microsoft-remote-desktop/id1295203466?l=en-GB&mt=12)
[Download VMware Fusion Player](https://www.vmware.com/products/fusion/fusion-evaluation.html)
You may need to sign up and register to get the free personal-use license.
# Step 2: Download Ubuntu image
[Download Ubuntu Server for ARM 20.04 Focal](https://cdimage.ubuntu.com/releases/focal/release/ubuntu-20.04.5-live-server-arm64.iso)
[Download Ubuntu Server for ARM 22.04 Jammy](https://cdimage.ubuntu.com/releases/22.04/release/ubuntu-22.04.3-live-server-arm64.iso)
# Step 3: Create Ubuntu machine in VMware Fusion
Create virtual Ubuntu machine from the downloaded image at Step 2.
Don't forget to customize your settings before starting the new virtual machine (disk size, processors, memories, etc.).
Just follow the instructions, create your user, and reboot.
# Step 4: Clone this repo
```
cd && git clone https://github.com/hyeonbeenlee/ROS-SLAM-AppleSilicon.git
cd ROS-SLAM-AppleSilicon
```
# Step 5: Run automatic setup
Running the ```setup_.sh``` in the VM's Ubuntu terminal will do the following in sequence:
- Authorize the user
- Update the default apt mirrors to faster local(Korean) mirrors
- Setup SSH and XRDP connections
- Install Firefox and VSCode
- Install ROS and Turtlebot3-Gazebo simulation apps
- Clean and reboot
Before you run ```setup_.sh```, there're few things to be personalized.
```
vi setup_.sh
```
1. **Replace ```hyeonbeen``` to ``````.**
2. **Replace the Korean apt mirror ```ftp.lanet.kr``` to others, if necessary.**
3. **Replace the ```noetic``` to `````` if necessary.**
Then, run the ```setup_.sh```
```
. setup.sh
```
# Step 6: Connect to VM using Remote Desktop Client
While your VM Ubuntu is running, you can connect to ```:3389``` and use Full-GUI experience with ROS and Gazebo.
`````` is the local IP address of your VM, and can be obtained through
```
ifconfig
```
# Step 7: Test your VM
Test apps on your VM by running below codes:
### Scanning and saving map
[ROBOTIS Official SLAM Guide](https://emanual.robotis.com/docs/en/platform/turtlebot3/slam_simulation/)
```
roscore
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
rosrun map_server map_saver -f ~/map
```
### Loading scanned map and navigating
[ROBOTIS Official Navigation Guide](https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/)
```
roscore
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```
# Troubleshooting
If you cannot connect using the Remote Desktop,
Check if you're connecting to the right ``````,
```
sudo systemctl restart xrdp
sudo service xrdp restart
```
and try reconnecting (or rebooting your MacBook).
# ENJOY!
I hope there are no more victims like me...
Please make an issue if there're any problems.