# Install SUAVE locally
To install the exemplar locally, you have to [install Gazebo Garden](#install-gazebo-garden), [install ROS2 Humble](#install-ros2-humble), [install ArduSub](#install-ardusub), [install the ArduSub plugin](#install-ardusub-plugin), and finally [install the SUAVE workspace](#install-suave-workspace).

## Install Gazebo Garden

Follow the [official instructions](https://gazebosim.org/docs/garden/install_ubuntu) for installing Gazebo Garden.

## Install ROS2 Humble

Follow the [official instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) for installing ROS2 Humble.

## Install ArduSub
ArduSub is a subproject within ArduPilot for piloting underwater vehicles.

**Disclaimer:**
Problems may occur with different combinations of ArduPilot and MavROS versions. This repo was tested with [this ArduPilot commit](https://github.com/ArduPilot/ardupilot/tree/94ba4ece5f9ccdf632b95938f8e644a622f5ee75) and [mavros 2.4.0](https://github.com/mavlink/mavros/tree/01eccd8). Unfortunately, at least at the time of writing this README, the releases available in Ubuntu 22.04 do not match.

```Bash
cd ~/
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git checkout e9f46b9
git submodule update --init --recursive
```

Note that the script used to install prerequisites available for this
version of ArduSub does not work in Ubuntu 22.04. Therefore, you need to replace them before
running ArduSub. To install the ArduPilot prerequisites, do the following.

```Bash
cd ~/ardupilot
cd Tools/environment_install/
rm install-prereqs-ubuntu.sh
wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/environment_install/install-prereqs-ubuntu.sh
cd ~/ardupilot
chmod +x Tools/environment_install/install-prereqs-ubuntu.sh
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
```

To test if the installation worked, run:

```Bash
sim_vehicle.py -v ArduSub -L RATBeach --console --map
```
ArduPilot SITL should open and a console plus a map should appear.

## Install ArduSub plugin

Install the dependencies:

```Bash
sudo apt install libgz-sim7-dev rapidjson-dev
```

Clone and build the repository:

```Bash
cd ~/
git clone https://github.com/ArduPilot/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
```

Add the required paths:

Assuming that you have cloned the repository in `$HOME/ardupilot_gazebo`, run:
```bash
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
```

Now that new environmental variables have been added to your terminal, you need to reload it with
```bash
source ~/.bashrc
```
More info about the plugin can be found in the corresponding [repository](https://github.com/ArduPilot/ardupilot_gazebo/).

## Install SUAVE workspace

Create the workspace and download the required repositories:
```Bash
mkdir -p ~/suave_ws/src/
cd ~/suave_ws/
```

If you want to get the most updated version of the repo:

```Bash
wget https://raw.githubusercontent.com/kas-lab/suave/main/suave.rosinstall
vcs import src < suave.rosinstall --recursive
```
**SEAMS2023:** If you want to get the version submitted to SEAMS 2023 instead of the most updated version get the following dependencies instead:

```Bash
wget https://raw.githubusercontent.com/kas-lab/suave/9e6468896ce766376557ca9522d84f92b70129f1/suave.rosinstall
vcs import src < suave.rosinstall --recursive
```

Before building the `ros_gz` package (one of the dependencies), you need to export the gazebo version:

```
export GZ_VERSION="garden"
```
You can also add this to your `~/.bashrc` to make this process easier.

Install the dependencies:
```Bash
source /opt/ros/humble/setup.bash
cd ~/suave_ws/
rosdep install --from-paths src --ignore-src -r -y
```

Build the project:
```Bash
cd ~/suave_ws/
colcon build --symlink-install
```

If you have memory problems while building the package, run the following command instead, it is slower but uses less memory:

```Bash
colcon build --symlink-install --executor sequential --parallel-workers 1
```

Install a MAVROS dependency:
```Bash
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
```

<!-- Now you can proceed to [run the exemplar](#run-suave). -->