8. ROS manual¶
8.1. Install the ROS¶
Follow the official installation tutorial to install ROS. Official Installation Tutorial
8.2. Install libglx¶
Rviz and Gazebo are written based on GLX. Our system only supports EGL at present, so they cannot use GPU acceleration, and GLX library needs to be installed to run properly.
apt install -y libgl1-mesa-glx libgl1-mesa-dri libglx-mesa0 reboot
8.3. Update libqt5opengl5-dev¶
If RVIz does not run, RQT displays errors such as QOpenGLTimeMonitor. You need to update libqt5OpengL5-dev. Do the following to try running programs like RQT, RVIz, and Gazebo.
sed -i 's/.*wiki.t-firefly.com.*/\#&/' /etc/apt/sources.list apt install libqt5opengl5-dev sed -i '/.*wiki.t-firefly.com.*/s/^#//' /etc/apt/sources.list
8.4. Run Rviz, RQT and Gazebo under Wayland¶
GLX-based programs run in Wayland and need to use XWayland. Use QT_QPA_PLATFORM=xcb to force Qt applications to use X11.
QT_QPA_PLATFORM=xcb rviz QT_QPA_PLATFORM=xcb rqt QT_QPA_PLATFORM=xcb gazebo # You can also set the environment to bashrc to run programs like RVIz directly. echo "export QT_QPA_PLATFORM=xcb" >> /~/.bashrc