3.4 Software Environment Setup

This is a guide for setting up the environment to build and run AntBot software.

Prerequisites

Item	Requirement
OS	Ubuntu 22.04 LTS
ROS 2	Humble Hawksbill
C++	C++17 or higher
Python	3.10 or higher
Compiler	GCC 11+

Note

If you need to install ROS 2 Humble, refer to the official installation guide.

Installation

1. Create workspace and clone repository

   mkdir -p ~/antbot_ws/src && cd ~/antbot_ws/src
   git clone https://github.com/ROBOTIS-move/antbot.git

2. Install dependencies

   The setting.sh script automatically performs the following tasks:

   • Install system packages (netplan.io, etc.)
   • Clone external ROS 2 packages (vcs import)
   • Install ROS dependencies via rosdep

   cd ~/antbot_ws/src/antbot
   bash scripts/setting.sh

3. Build workspace

   cd ~/antbot_ws
   colcon build --symlink-install

4. Source environment

   source ~/antbot_ws/install/setup.bash

   Tip

   Add the following line to ~/.bashrc to automatically source in every new terminal.

   echo 'source ~/antbot_ws/install/setup.bash' >> ~/.bashrc

Running

To launch the entire system at once:

ros2 launch antbot_bringup bringup.launch.py

To view only the URDF model without hardware:

ros2 launch antbot_description description.launch.py

To monitor sensors with RViz (while the full system is running):

ros2 launch antbot_bringup view.launch.py