Install from Debian Packages
This guide installs the CPM Lab from Debian packages. You cannot modify the components of the CPM Lab this way, but you can run the complete CPM Lab ROS2 stack with all its features and develop your own motion planner.
Note
This guide is for users who want to use the CPM Lab for testing their motion planner. If you are developing features, consider using Building from Source instead.
Tip
To try the CPM Lab without installing it on your computer, build and use the Docker images, see Docker Images. On Windows or macOS, see Student Setup.
Installation Steps
Follow these steps to set up the CPM Lab ROS2 environment:
1. Install ROS2
Follow the official installation instructions of
ROS2 Jazzy (Ubuntu 24.04). Packages for
Humble (Ubuntu 22.04) exist as well, but are maintained for simulation only, see Supported Platforms. The
commands below use jazzy; replace it if you use another distribution.
2. Setup Repository
The apt server provides the packages for amd64 and arm64. The installation of the CPM Lab ROS2 stack is similar to the installation of ROS. First, you need to add our GPG key to your system. Download the key and navigate to the download directory. Remove the ASCII armor and move it to the keyring directory:
cd <download-directory>
gpg --dearmor < cpm-archive-keyring.gpg.key | sudo tee /usr/share/keyrings/cpm-archive-keyring.gpg > /dev/null
Then, add the repository to your system:
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/cpm-archive-keyring.gpg] https://cpm.lrt.unibw.de/apt $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/cpmros.list > /dev/null
3. Install the CPM Lab
Update your package list and install the meta package ros-jazzy-cpm-lab, which installs all CPM Lab packages:
sudo apt update
sudo apt install ros-jazzy-cpm-lab
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
Check the installation in a new terminal. The first command lists the CPM Lab packages, the second shows the installed version:
ros2 pkg list | grep cpm_lab
apt policy ros-jazzy-cpm-lab
4. Install the Middleware
The real lab needs Eclipse Zenoh; for simulations on your own computer, CycloneDDS works as well. See Middleware for the differences.
sudo apt install ros-jazzy-rmw-zenoh-cpp
echo "export RMW_IMPLEMENTATION=rmw_zenoh_cpp" >> ~/.bashrc
With Zenoh, start the router in a separate terminal before the lab (ros2 run rmw_zenoh_cpp rmw_zenohd); in the
real lab it runs on the central workstation.
5. Launch the CPM Lab
🖥️ Launch the control flow together with RViz and the Control Center:
source /opt/ros/jazzy/setup.bash
export ROS_DOMAIN_ID=21
ros2 launch cpm_lab cpm_lab_rviz.launch.xml
See Running the Lab for the other launch files and Command Reference for all daily commands.
Tip
Instead of RViz you can also use Lichtblick in the browser or as a desktop app, see Visualization with Lichtblick.
🎉 You’re Done! 🎉
You have successfully installed the CPM Lab ROS2 stack using Debian packages.
If you run into issues, refer to our Troubleshooting Guide or see Getting Help and FAQ.