BrettRD
commented
2 years ago This is great!
minor notes for the readme:
In the first call to setup.bash, we're adding the system packages to the environment so rosdep doesn't try to install ros, and provide packages for cmake to start with. These deps are necessary but not sufficient to load the built plugin (missing audio_msgs package not yet built)
Once the plugin (and audio_msgs) is built, ~/galactic_ws/install/setup.bash will be required to provide the audio_msgs .sos to load the plugin. ~/galactic_ws/install/setup.bash alone will work on a fresh shell because it'll refer back to the environment it was built against
Some notes for the Dockerfile:
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this is fantastic.
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prebuilt images of ubuntu with ros-core are available as a starting point: https://hub.docker.com/_/ros
FROM ros:galactic-ros-core-focal(this is missing a bunch of dev tools, but makes a cleaner ros) -
the ros install dependencies (rviz in particular) can be pruned by using a smaller 'variant': https://www.ros.org/reps/rep-2001.html#ros-core
- sudo apt install ros-galactic-desktop>1650 packages+ sudo apt install ros-galactic-ros-core433 packages -
I found someone with a hack to get rosdep going under a user in docker
# allow the user to call sudo within rosdep RUN echo "zim ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers -
Conventional ros builds build from
wsinstead ofsrc, ws should have subdirs src, install, build, log -
WORKDIR $HOME/galactic_ws/src
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RUN git clone https://github.com/BrettRD/ros-gst-bridge.git
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WORKDIR $HOME/galactic_ws
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RUN git clone https://github.com/BrettRD/ros-gst-bridge.git src/ros-gst-bridge
I have changes to this effect in a local copy, could you re-target the pull request to the (newly created, even with branch ros2) build_instructions branch?
…he build instructions
This is how I would expand the Building section with a little more detail.
I have also included the Dockerfile I used to develop the instructions. Hopefully it can provide a little more detail for folks who need to get their environment set up.