Installation

Requirements

CARET is confirmed to run on the platforms shown in the following table with supported version.

dependent platform	supported version
ROS	Humble
Ubuntu	22.04
LTTng	stable-2.13
Linux Kernel	5.15.x
Python3	3.10.x

The recent version, after v0.3.0, of CARET supports only the combination of ROS 2 Humble and Ubuntu 22.04.
If you want to run CARET on ROS 2 Galactic and Ubuntu 20.04, please refer to documents for v0.2.3

Installation

Installation using meta repository is the least time-consuming way to install CARET.
With meta repository and Ansible, you can skip the laborious manual setup which is explained in manual installation(./manual_installation.md) section (written in Japanese).

Please execute the following steps on Ubuntu 20.04. The order is important so that you have to follow the steps in order.

1. Clone caret and enter the directory.

   git clone https://github.com/tier4/caret.git ros2_caret_ws
   cd ros2_caret_ws
   

   main branch is dedicated for ROS 2 Humble. If you want to use CARET for ROS 2 Galactic, please execute git checkout galactic in ros2_caret_ws directory.

2. Create the src directory and clone repositories into it.

   CARET uses vcstool to construct workspaces.

   mkdir src
   vcs import src < caret.repos
   

3. Run setup_caret.sh.

   ./setup_caret.sh
   

4. Build the workspace.

   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
   

5. Check whether CARET (ros2-tracing) is enabled.

   CARET inherits some functions from ros2-tracing.

   source ~/ros2_caret_ws/install/local_setup.bash
   ros2 run tracetools status # return Tracing enabled
   

If you see Tracing enabled, you can continue to apply CARET to your application.