Environment Setup#
Prerequisites#
- ROS 2 Humble or Jazzy installed (rclcpp)
- Ubuntu 22.04 or 24.04
- Linux kernel 5.x or 6.x series
Installation#
Agnocast consists of three components:
| Component | Description | Installation |
|---|---|---|
| agnocast-kmod | Linux kernel module for core metadata management | apt (PPA) |
| agnocast-heaphook | Custom heap allocator for shared memory allocation | apt (PPA) |
| ROS packages (agnocastlib, etc.) | Core library and rclcpp-compatible pub/sub API | Source build |
The kernel module and heaphook are distributed via a Launchpad PPA with explicit version pinning. The ROS packages are not yet available from the ROS build farm and must be built from source for now.
1. Add the Agnocast PPA#
Import the GPG key and add the repository:
```bash
Download and install the GPG key#
sudo mkdir -p /etc/apt/keyrings curl -fsSL 'https://keyserver.ubuntu.com/pks/lookup?op=get&search=0xCFDB1950382092423DF37D3E075CD8B5C91E5ACA' \ | sudo gpg --dearmor -o /etc/apt/keyrings/agnocast-ppa.gpg
Add the repository (DEB822 format)#
sudo tee /etc/apt/sources.list.d/agnocast.sources > /dev/null <