Install Dependencies

Install the required ROS2 packages:

sudo apt update
sudo apt install -y ros-${ROS_DISTRO}-graph-msgs \
                    ros-${ROS_DISTRO}-moveit* \
                    ros-${ROS_DISTRO}-ros2-control \
                    ros-${ROS_DISTRO}-ros2-controllers \
                    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
sudo apt install -y python3-colcon-common-extensions python3-rosdep

Verify WMX3 Runtime Installation

The WMX3 Runtime must be installed at /opt/wmx3/ before building the workspace. See Install WMX3 for download and installation instructions.

To confirm the installation is present:

ls /opt/wmx3/include/WMX3Api.h
ls /opt/wmx3/lib/libwmx3api.so

Both files must exist before proceeding.