---json
{"name": "Install and connect"}
---
====== Install and connect ======
{{indexmenu_n>10}}

Build the standalone Marty V2 driver and read its accelerometer. Use Ubuntu 24.04, ROS 2 Jazzy, Python 3.12 and Bash.

===== Install and build =====

Install ROS 2 Jazzy using the [[https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html|Ubuntu installation instructions]], then install the development tools:

<code bash>
sudo apt install ros-dev-tools python3-venv python3-pip
sudo rosdep init  # Once per machine; skip if already initialized.
rosdep update
</code>

Clone into any directory. All commands below run from the repository root:

<code bash>
git clone https://github.com/robotical/marty-ros2.git
cd marty-ros2
source /opt/ros/jazzy/setup.bash
/usr/bin/python3 -m venv --system-site-packages .venv
source .venv/bin/activate
python -m pip install -r requirements.txt colcon-common-extensions
rosdep install --from-paths src --ignore-src -r -y
python "$(command -v colcon)" build --base-paths src --symlink-install
</code>

The virtual environment includes the system ROS packages and MartyPy. Run ''colcon'' explicitly through the active Python as shown above. A system ''colcon'' executable otherwise builds the driver with system Python, even while the venv is active. The generated driver executable keeps that build-time interpreter.

===== Machine configuration =====

Create the local configuration files once. Both are ignored by Git:

<code bash>
cp -n config/machine.env.example config/machine.env
cp -n config/robots.yaml.example config/robots.yaml
</code>

''config/machine.env'' contains:

<code bash>
ROS_SETUP_FILE=/opt/ros/jazzy/setup.bash
ROS_DOMAIN_ID=0
MARTY_PYTHON_VENV="$MARTY_ROS_ROOT/.venv"
MARTY_ROS_ROBOTS_FILE="$MARTY_ROS_ROOT/config/robots.yaml"
</code>

''scripts/setup_env.sh'' determines ''MARTY_ROS_ROOT'' from its own location, loads this file, activates the Python environment and sources ROS and the built workspace. It starts no node and opens no device connection.

The workspace defaults to the checkout. Set ''ROS_WORKSPACE'' if the project was built elsewhere, or change ''ROS_SETUP_FILE'' for another ROS installation path. Relative configuration paths are resolved from the checkout. Use the same ''ROS_DOMAIN_ID'' in every ROS terminal.

===== Robot connection =====

For **USB**, set ''config/robots.yaml'' to:

<code yaml>
martys:
  marty:
    method: usb
    locator: /dev/serial/by-id/REPLACE_WITH_MARTY_DEVICE
    auto_connect: false
    auto_reconnect: false
    subscribe_rate_hz: 10.0
</code>

Find the serial port with:

<code bash>
ls -l /dev/serial/by-id/
</code>

If serial access is denied, add the Linux user to ''dialout'', then log out and back in:

<code bash>
sudo usermod -aG dialout "$USER"
</code>

For **Wi-Fi**, replace only ''method'' and ''locator'' inside the same entry:

<code yaml>
    method: wifi
    locator: 192.168.1.8
</code>

Set ''locator'' to Marty's actual IP address or hostname. Marty must already be connected to the network. [[:martyv2:userguides:marty:wifi|Wi-Fi setup]] and [[https://userguides.robotical.io/martyv2/support_faqs/connectivity/find_ip|Find IP address]] cover the robot's network settings.

Packaged defaults are in ''src/marty_bringup/config/marty.yaml''. The selected ''robots.yaml'' entry overrides those values; explicit launch arguments override both. ''auto_connect: false'' keeps connection manual; ''auto_reconnect: false'' keeps reconnection manual.

===== Start the driver =====

In **Terminal 1**, from the repository root:

<code bash>
source scripts/setup_env.sh
ros2 launch marty_bringup bringup.launch.py namespace:=marty
</code>

Keep this terminal running. The ''marty'' entry selects the connection and creates ''/marty/marty_driver''. No connection or movement starts yet.

===== Connect and read acceleration =====

In **Terminal 2**, from the repository root:

<code bash>
source scripts/setup_env.sh
ros2 service call /marty/connect std_srvs/srv/Trigger '{}'
ros2 topic echo /marty/imu/data_raw --field linear_acceleration --qos-reliability best_effort
</code>

The service should return ''success: true''. MartyPy starts telemetry on connection. The echo displays x, y and z in m/s², including gravity. Move Marty gently to see the values change.

Stop the echo with Ctrl+C. Check connection state and the running graph:

<code bash>
ros2 topic echo /marty/status --once --qos-durability transient_local
ros2 node info /marty/marty_driver
ros2 topic list -t
</code>

If no readings appear, check ''connected'', ''telemetry_fresh'' and ''last_error'' on the status topic. The driver must be running, the connection must be reachable, and measurement subscribers must use best-effort QoS.

===== Disconnect =====

In Terminal 2:

<code bash>
ros2 service call /marty/disconnect std_srvs/srv/Trigger '{}'
</code>

Then Ctrl+C in Terminal 1 stops the driver.

Next: [[:martyv2:ros2:interfaces|Topics, services and movement]].