中文版本：

安装 ROS 2 工作区

Back to Table of Contents:

Getting Started

Clone the Project

Clone the astra_ws project and its submodules:

git clone --recurse-submodules <https://github.com/hilookas/astra_ws>
cd astra_ws

Set Up Docker Runtime (Recommended)

If you prefer to isolate the ROS environment using Docker, AhaRobot provides a Dockerfile at https://github.com/hilookas/astra_ws/blob/main/.devcontainer/Dockerfile to create the runtime environment. We recommend using VSCode/Cursor to run this container. With the Dev Containers extension installed, open the folder and select “Reopen in Container” when prompted. VSCode will then automatically fetch dependencies and build the image in the background.

🤔 If downloads are slow, consider configuring an APT mirror in the Dockerfile or setting an HTTP(S) proxy via http(s)_proxy environment variables.

Install and Configure Python Packages and ROS Environment

To enable AhaRobot’s features, we maintain several patched Python packages. Some changes are not upstreamed due to maintenance or feature considerations, so these packages must be installed from source. Key modifications:

• aiortc: support for multiple MediaStream streams
• PyAV: enable AV1 encoding using libsvtav1
• mr_urdf_loader: fix URDF parsing bugs
• urchin/pyribbit: URDF parsing to support inverse kinematics

⚠️ If you are using Docker to isolate the environment, ensure you execute the following commands inside the container.