============
Installation
============

.. rst-class:: tutorial-meta

|badge-os| |badge-ros|

.. |badge-os| image:: https://img.shields.io/badge/Ubuntu-20.04%20Focal-E95420?logo=ubuntu&logoColor=white
.. |badge-ros| image:: https://img.shields.io/badge/ROS-Noetic-22314E?logo=ros&logoColor=white


Software requirements
=====================

.. list-table::
   :header-rows: 1
   :widths: 22 18 60

   * - Component
     - Required
     - Notes / Link
   * - Ubuntu
     - yes
     - Focal ``20.04`` - other releases untested
   * - ROS
     - yes
     - `ROS Noetic <https://wiki.ros.org/noetic>`__
   * - pitasc
     - yes
     - See :doc:`../installation`
   * - Frame editor (RQT plugin)
     - yes
     - `frame_editor <https://index.ros.org/p/frame_editor/#noetic>`__
   * - Gripper driver
     - model dependent
     - e.g. `ipa325_wsg50 <https://github.com/ipa320/ipa325_wsg50>`__ for the Weiss WSG 50-110
   * - PlotJuggler
     - optional
     - `PlotJuggler <https://github.com/facontidavide/PlotJuggler>`__ - monitor forces to avoid damaging your equipment

.. note::

   Instead of a native installation you can use a **Docker container** with
   ROS Noetic and pitasc (GUI enabled).

.. dropdown:: Install optional tooling (PlotJuggler)
   :icon: package

   .. code-block:: bash

      sudo snap install plotjuggler-ros