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.
We have added an experimental implementation to work with iron.
To install for iron, open for iron in the Installation section below and follow the instructions.

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 22.04. 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
   

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

   CARET uses vcstool to construct workspaces.

   mkdir src
   vcs import src < caret.repos
   

   for iron

   mkdir src
   vcs import src < caret_iron.repos
   

3. Run setup_caret.sh.

   ./setup_caret.sh
   

   for iron

   ./setup_caret.sh -d iron
   

4. Build the workspace.

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

   for iron

   source /opt/ros/iron/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.