my-ros-ws

Just a repository to share and sync .rosinstall files across devices

git clone https://github.com/moriarty/my-ros-ws ~/ros-ws-setup

If you put this repository in ~/ros-ws-setup you can copy and paste the other instructions

Care-O-Bot 3-1 instructions

To save compile time on the Care-O-Bot, I've taken advantage of catkin workspace overlays.

Structure and Usage

Let's assume it's been set up, and you're just a normal account user. A beginner ROS user, likely you're familiar with having two ros workspaces. The core packages you likely installed with your package manager are in /opt/ros/indigo and the catkin workspace you work in ~/catkin_ws/src or ~/indigo/src.

We will add a new workspace into the mix. One where we require changes not yet available in the package manager, but stable enough that we don't need to catkin build them all the time. This will be located at /opt/ros/indigo-cob3-1-stable.

As a user- you only need to worry about the new workspace once. After steup you can forget about the sourcing /opt/ros/indigo/setup.bash and /opt/ros/indigo-cob3-1-stable/setup.bash

Initial Setup

Assuming Clean ROS environment, env | grep -i ros should print nothing. If not use unset or edit your .bashrc and open a new session.

Demo User must first:

0. Start without having sourced any ROS setup files
1. Install repositories.debs
2. Source /opt/ros/indigo/setup.bash
3. Initialize stable workspace using wstool
4. Configure workspace install-space and install option
5. Build workspace: this will install to /opt/ros/indigo-cob3-1-stable

6. Unset ROS variables (or logout and don't source any setup.bash)

   mkdir -p ~/indigo-cob3-1-stable
   cd ~/indigo-cob3-1-stable

   note: use the correct setup file, pc1 includes the repositories for hardware like the arm. Everyone else only needs pc2.

   wstool init src ~/ros-ws-setup/cob-stable/indigo-cob3-1-stable-pc2.rosinstall
   catkin config --init
   catkin config --install --install-space /opt/ros/indigo-cob3-1-stable
   catkin build
   logout

All Users must:

0. Start without having sourced any ROS setup files
1. Source the new /opt/ros/indigo-cob3-1-stable.
2. Initialize your catkin workspace with wstool
3. Build the workspace. You can check the configuration first with catkin config

4. Add the new devel/setup.bash to your login scripts and log & log back in.

   source /opt/ros/indigo-cob3-1-stable/setup.bash
   mkdir -p ~/indigo
   cd ~/indigo
   wstool init src ~/ros-ws-setup/cob-user/mas-domestic-robotics.rosinstall
   catkin config --init
   catkin build

   On the Care-O-Bot we're putting all of our ROS stuff into ~/env.sh and sourcing that at the end of the .bashrc

   vim ~/env.sh

   It should look something like this

   #!/bin/bash
   # Common Stuff
   source /etc/care-o-bot/common.bashrc
   # ROS WORKSPACE
   source $HOME/indigo/devel/setup.bash
   # ROBOT Environment (map)
   export ROBOT_ENV=brsu-c069

Update

All Users

1. Use catkin build on your ~/indigo workspace as normal.

As Demo

1. The catkin config is saved in each workspace.

2. If you're building in the ~/indigo workspace, nothing changes.

3. If you need to update something in the stable workspace:

   ~/indigo-cob3-1-stable/src

   running catkin build will use the previously set Install Packages: True and Install Space: options for that workspace.

4. There is no need to source different setup.bash files

OLD INSTRUCTIONS

TODO: I've restructured, these can't be copied and pasted any more, need to update.

to create a catkin workspace in ~/indigo:

mkdir -p ~/indigo
cd ~/indigo
source /opt/ros/indigo/setup.bash
wstool init src ~/my-ros-ws/cob3-1-pc1.rosinstall
wstool update