Skip to content

installation.md

Latest commit

 

History

History
93 lines (61 loc) · 2.87 KB

installation.md

File metadata and controls

93 lines (61 loc) · 2.87 KB
Raw

Installation

LiveKit

ROS Portal depends on LiveKit server and CLI. The following table below is a quick reference for installing these components if not already present.

Component Purpose Documentation
LiveKit Server Host rooms that ROS Portal connects to LiveKit Cloud or local install
LiveKit CLI Mint access tokens for ROS Portal LiveKit CLI guide

ROS Portal (Docker)

ROS Portal is available as a Docker container to avoid installation and get running quickly. See Running ROS Portal (Docker).

ROS Portal (Debian)

ROS Portal releases provide the .deb packages as direct downloads for each supported ROS distribution and platform architecture combination, in the following format:

ros-<distro>-livekit-portal_<version>-<revision>_<arch>.deb

The package installs to /opt/livekit/ros/<distro> without modifying files owned by the ROS installation under /opt/ros/<distro>.

The following ROS packages are installed:

  • ros_portal
  • ros_portal_config
  • ros_portal_msgs
  • ros2_medkit_serialization (bundled for dynamic message serialization; not available via ROS apt)

The remaining dependent packages are leveraged from the native ROS installation.

Note

Future versions of ROS Portal will be available via apt installation and will follow standard ROS installation locations.

Install

Ensure the matching ROS release is installed prior to installing ROS Portal.

Download the .deb matching the machine's ROS distribution and architecture, then run:

sudo apt update
sudo apt install ./ros-$ROS_DISTRO-livekit-portal*.deb

Note

Use apt install over alternatives to ensure additional third-party dependencies are installed if not already present.

Source the setup script and check that ROS can find ROS Portal. This guide assumes bash, but use the script for your shell:

# bash
source /opt/livekit/ros/$ROS_DISTRO/setup.bash
ros2 pkg prefix ros_portal

If successful, outputs:

/opt/livekit/ros/<distro>/ros_portal

Each package also installs a distro-specific convenience command:

ros-portal-$ROS_DISTRO

Troubleshooting

Missing diagnostic-updater package:

sudo apt update
sudo apt install ros-$ROS_DISTRO-diagnostic-updater

Next Steps

See Configuration next to setup environment variables and the ROS Portal configuration file, then Running for running ROS Portal.