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Prerequisites and Setup Instructions

Before starting this textbook, you'll need to set up your development environment with the necessary tools and frameworks.

Software Prerequisites​

  • Operating System: Ubuntu 22.04 LTS or Windows 10/11 with WSL2
  • Basic Knowledge:
    • Familiarity with Linux/Ubuntu environment
    • Basic Python programming skills
    • Understanding of linear algebra and calculus
    • Basic knowledge of control systems
    • Git version control experience

Installation Guide​

1. Install Ubuntu 22.04 LTS or set up WSL2 on Windows​

If using Windows, install WSL2 with Ubuntu 22.04:

wsl --install Ubuntu-22.04

2. Install ROS 2 Humble Hawksbill​

Follow the official installation guide for your OS:

3. Set up NVIDIA drivers and CUDA toolkit​

For Isaac Sim support, install the latest NVIDIA drivers and CUDA toolkit:

4. Install Gazebo Garden and Unity Hub​

5. Configure Isaac Sim environment​

  • Download Isaac Sim from NVIDIA Developer website
  • Follow setup instructions in the Isaac Sim documentation

6. Install required Python packages and dependencies​

pip3 install numpy scipy matplotlib

Hardware Requirements​

For optimal performance, your system should meet at least the minimum specifications outlined in the Hardware Requirements section.

Verification​

After completing the setup, verify your installation by running:

ros2 --version
python3 --version
nvidia-smi  # If NVIDIA GPU is available