Tested in Ubuntu Focal only

Prepare the computer

Install git and others tools

sudo apt install -y git curl vim

Add Oh my sh for confort

sudo apt install -y zsh

sh -c "$(curl -fsSL https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"

Install cuda 10.1 and cudnn

sudo apt install -y nvidia-cuda-toolkit

You need to download cuDNN for Linux(you need to be logged currently the version is 8.0.4.30)

tar -xvzf cudnn-10.1-linux-x64-v8.0.4.30.tgz

sudo cp cuda/include/cudnn.h /usr/lib/cuda/include/

sudo cp cuda/lib64/libcudnn* /usr/lib/cuda/lib64/

sudo chmod a+r /usr/lib/cuda/include/cudnn*.h /usr/lib/cuda/lib64/libcudnn*

Install ros 2

Update locales

locale # check for UTF-8

sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

locale # verify settings

Setup sources

sudo apt update && sudo apt install -y gnupg2 lsb-release

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

Install packages

sudo apt update

sudo apt install -y ros-foxy-desktop

echo 'source /opt/ros/foxy/setup.zsh' >> ~/.zshrc

sudo apt install -y python3-pip

pip3 install -U argcomplete

sudo apt install -y python3-colcon-common-extensions

Install and run two_wheel

echo 'export LC_NUMERIC="en_US.UTF-8"' >> ~/.zshrc

mkdir ros2_workspace

cd ros2_workspace

git clone https://github.com/pedrogasg/two_wheel.git src

sudo apt install ros-foxy-joint-state-publisher

sudo apt install ros-foxy-joint-state-publisher-gui

sudo apt install -y ros-foxy-gazebo-ros-pkgs

sudo apt install ros-foxy-xacro

sudo apt install -y ros-foxy-navigation2

sudo apt install -y ros-foxy-nav2-bringup

colcon build

. ./install/setup.zsh

ros2 launch two_wheel_simulation rviz.launch.py

ros2 launch two_wheel_simulation gazebo.launch.py

Test with some messages

ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}'