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ROS-SLAM-AppleSilicon

This repo is tested for ROS-Noetic on Ubuntu 20.04 only.

demo1

demo2

I have struggled several weeks to run Turtlebot3 SLAM simulations with ROS-Noetic on my M1 MacBook Pro, and here is the ultimate solution.
To the best of my knowledge and experience, connecting Remote Desktop to VMware-running Ubuntu was the only fully-successful option.
I've also tried other options including:

  1. Dual-booting to native Asahi-Ubuntu
  2. XQuartz-forwarding to Ubuntu Docker container
  3. Remote Desktop connecting to Ubuntu Docker container

But after all, these DID NOT successfully run Gazebo and other required applications.

Step 1: Install VMware Fusion and RDP client

Download Remote Desktop Client

Download VMware Fusion Player
You may need to sign up and register to get the free personal-use license.

Step 2: Download Ubuntu image

Download Ubuntu Server for ARM 20.04 Focal
Download Ubuntu Server for ARM 22.04 Jammy

Step 3: Create Ubuntu machine in VMware Fusion

Create virtual Ubuntu machine from the downloaded image at Step 2.
Don't forget to customize your settings before starting the new virtual machine (disk size, processors, memories, etc.).
Just follow the instructions, create your user, and reboot.

Step 4: Clone this repo

cd && git clone https://github.com/hyeonbeenlee/ROS-SLAM-AppleSilicon.git
cd ROS-SLAM-AppleSilicon

Step 5: Run automatic setup

Running the setup_<ROS_DISTRO>.sh in the VM's Ubuntu terminal will do the following in sequence:

  • Authorize the user
  • Update the default apt mirrors to faster local(Korean) mirrors
  • Setup SSH and XRDP connections
  • Install Firefox and VSCode
  • Install ROS and Turtlebot3-Gazebo simulation apps
  • Clean and reboot

Before you run setup_<ROS_DISTRO>.sh, there're few things to be personalized.

vi setup_<ROS_DISTRO>.sh
  1. Replace hyeonbeen to <YOUR_USERNAME>.
  2. Replace the Korean apt mirror ftp.lanet.kr to others, if necessary.
  3. Replace the noetic to <YOUR_ROS_VERSION> if necessary.

Then, run the setup_<ROS_DISTRO>.sh

. setup.sh

Step 6: Connect to VM using Remote Desktop Client

While your VM Ubuntu is running, you can connect to <VM_IP>:3389 and use Full-GUI experience with ROS and Gazebo.
<VM_IP> is the local IP address of your VM, and can be obtained through

ifconfig

Step 7: Test your VM

Test apps on your VM by running below codes:

Scanning and saving map

ROBOTIS Official SLAM Guide

roscore
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
rosrun map_server map_saver -f ~/map

Loading scanned map and navigating

ROBOTIS Official Navigation Guide

roscore
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Troubleshooting

If you cannot connect using the Remote Desktop, Check if you're connecting to the right <VM_IP>,

sudo systemctl restart xrdp
sudo service xrdp restart

and try reconnecting (or rebooting your MacBook).

ENJOY!

I hope there are no more victims like me...
Please make an issue if there're any problems.