Creating a workspace
Create a new directory
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
Clone source repo
$ cd ~/ros2_ws/src
$ git clone https://github.com/choreonoid/choreonoid.git
$ git clone https://github.com/choreonoid/choreonoid_ros.git
$ git clone --recursive https://github.com/wrs-sim/wrs-plugin choreonoid/ext/wrs-plugin
$ git clone https://github.com/wrs-sim/choreonoid_joy2.git
Resolve dependencies
$ rosdep install -y --from-paths ~/ros2_ws/src --ignore-src
AGX Dynamics installation reference
HAIROWorldPlugin installation reference
Please obtain this software before building Choreonoid's WRS environment specification. Competitors are requested to contact the competition secretariat. Others should contact JAEA Suzuki at "suzuki.kenta38[a]jaea.go.jp". (Change the [a] to @ when you send us an email.) Move hairo-world-plugin to choreonoid/ext/.
Install requisites
$ choreonoid/misc/script/install-requisites-ubuntu-22.04.sh
$ sudo ./choreonoid/ext/hairo-world-plugin/misc/script/install-requisites-ubuntu-22.04.sh
Build Choreonoid
$ cd ~/ros2_ws
$ colcon build --symlink-install --cmake-args -DBUILD_AGX_DYNAMICS_PLUGIN=ON -DBUILD_AGX_BODYEXTENSION_PLUGIN=ON -DBUILD_SCENE_EFFECTS_PLUGIN=ON -DBUILD_HAIRO_WORLD_PLUGIN=ON -DENABLE_INSTALL_RPATH_USE_LINK_PATH=ON