CARET is confirmed to run on the platforms shown in the following table with supported version.
|dependent platform||supported version|
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 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.
caretand enter the directory.
git clone https://github.com/tier4/caret.git ros2_caret_ws cd ros2_caret_ws
mainbranch is dedicated for ROS 2 Humble. If you want to use CARET for ROS 2 Galactic, please execute
git checkout galacticin
Create the src directory and clone repositories into it.
CARET uses vcstool to construct workspaces.
mkdir src vcs import src < caret.repos
Build the workspace.
source /opt/ros/humble/setup.bash colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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.