Installing Nebula

Requirements

Nebula requires ROS 2 (Galactic or Humble) to build the ROS 2 wrapper. Please see the ROS 2 documentation for how to install.

Getting the source and building

Note

Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.

Note

A TCP enabled version of ROS' Transport Driver is required to use Nebula. It is installed automatically into your workspace using the below commands. However, if you already have ROS transport driver binaries installed, you will have to uninstall them to avoid conflicts (replace humble with your ROS distribution): sudo apt remove ros-humble-udp-driver ros-humble-io-context

To build Nebula run the following commands in your workspace:

# In workspace
mkdir src
git clone https://github.com/tier4/nebula.git src
# Import dependencies
vcs import src < src/build_depends.repos
rosdep install --from-paths src --ignore-src -y -r
# Build Nebula
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Testing your build

To run Nebula unit tests:

colcon test --event-handlers console_cohesion+ --packages-above nebula_common

Show results:

colcon test-result --all