Note that the ROS 2 interface for the WBC library can be found here

Install using ROS 2

1. Install ROS 2 Humble (on Ubuntu 22.04) as described here or ROS 2 Jazzy (for Ubuntu 24.04) as described here, base install + dev_tools are mimimum required
2. Install the WBC library as described here
3. If not yet done, init rosdep

   sudo rosdep init && rosdep update
   

4. Install wbc_ros packages

   mkdir -p ros2_ws/src
   cd ros2_ws
   vcs import src --input https://raw.githubusercontent.com/ARC-OPT/wbc_ros/main/repos.yaml
   rosdep install --from-paths src -i -r -y
   colcon build --symlink-install
   source install/setup.bash
   

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