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Thor-ROS & Asgard Installation Guide (Ubuntu 22.04)

Ready to run Thor and Asgard on Ubuntu? Just follow these steps, grab your terminal and let the penguin do the heavy lifting!

1. Set up Ubuntu 22.04

Start with a fresh install of Ubuntu 22.04.
If you’re already running it, you’re good to go!

2. Install ROS2 Humble

We recommend following the official ROS2 documentation:
👉 ROS2 Humble Installation Guide

Here’s a quick summary of the steps:

Set locale

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

Setup sources

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

Install ROS2 packages

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

Source the ROS2 setup script

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

3. Install Thor-ROS dependencies

Let’s get all the extra goodies for Thor-ROS and Asgard:

ros2-control

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

Gazebo

sudo apt install ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros2-control

MoveIt2

sudo apt install ros-humble-moveit-ros-control-interface ros-humble-moveit ros-humble-moveit-resources

rosbridge

sudo apt install ros-humble-rosbridge-suite

Serial and JSON libraries

sudo apt install libserial-dev nlohmann-json3-dev

4. Clone the Thor-ROS repository

Let’s get the code!

cd ~/
git clone https://github.com/AngelLM/Thor-ROS

5. Build the ROS2 packages

Time to compile:

cd ~/Thor-ROS/ws_thor
colcon build

6. Install npm and Asgard dependencies

Let’s get Asgard ready to shine:

curl -fsSL https://deb.nodesource.com/setup_20.x | sudo bash -
sudo apt install -y nodejs
cd ~/Thor-ROS/asgard
npm install

7. Launch the Thor ROS2 system (Terminal #1)

Start the simulated robot or connect to your real one!

cd ~/Thor-ROS/ws_thor
source install/setup.bash
ros2 launch thor_bringup simulated_robot.launch.py

8. Launch Asgard (Terminal #2)

Open a second terminal and start the web interface:

cd ~/Thor-ROS/asgard/
npm run dev

9. Open Asgard in your browser

Copy the URL shown in Terminal #2 after running npm run dev (usually something like http://localhost:5173) and enjoy controlling Thor from your browser!

You’re all set!
If you run into trouble or want to join the community, don’t forget to visit our Discord.