From 91bac99e0f144957271efa732dd061d89fae47b9 Mon Sep 17 00:00:00 2001 From: winterhalderp Date: Mon, 19 Apr 2021 16:18:50 +0200 Subject: [PATCH] all non-ros-files moved to folder and linked correctly --- README.md | 49 ++++++++++++++++++++++++------------------------- 1 file changed, 24 insertions(+), 25 deletions(-) diff --git a/README.md b/README.md index f247f0f..3dc839d 100644 --- a/README.md +++ b/README.md @@ -1,59 +1,58 @@ # pubsub - Publisher & Subscriber Package Minimal Publisher & Subscriber Template for ROS2. - ``` Created for ROS Workshop 2020 Course Roverentwicklung für Explorationsaufgaben Institute for Space Systems University of Stuttgart. -``` - -Created by Patrick Winterhalder, -[IRS](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/), University of Stuttgart. +``` +Class Code created by [Patrick Winterhalder](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/), +[IRS](https://www.irs.uni-stuttgart.de), University of Stuttgart. - - ## Workshop Prerequisites -For the workshop to be conducted on your Ubuntu 20.04 (64 bit) you must conduct [this installation for desktop machines](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/workshopinstall.sh) or [this installation for the Raspberry Pi](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/rpi_install.bash). Go through the bash commands (console) step by step! - +In order to run ROS2 you must install **Ubuntu 20.04 LTS** on a capable machine (preferrably desktop/laptop) first. * Install [Ubuntu 20.04](https://help.ubuntu.com/lts/installation-guide/index.html) + +For a successful workshop you must conduct [this installation on your desktop machine](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/workshopinstall.sh) or [this installation on your Raspberry Pi](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/rpi_install.bash). Go through the commands of these *.bash file line by line and check if every commands finishes without errors! Following these .bash files should do the following: + * Install Visual Studio Code using the [Ubuntu Software Installer](https://wiki.ubuntuusers.de/Ubuntu_Software/) * Install [Git](https://linuxconfig.org/how-to-install-git-on-ubuntu-20-04-lts-focal-fossa-linux) (no account required yet) -* Install [ROS2](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) ("desktop" on PC, "base" on Raspberry Pi). +* Install [ROS2](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) (choose "desktop" on PC or "base" on Raspberry Pi, this eliminates all GUI tools from the installation, e.g. rviz and rqt). * Also install _argcomplete_ * No need for _ROS 1 bridge_ or _RMW implementations_ -* Install and update _rosdep_ + * Install and update _rosdep_ -After a successful installation of ROS2 you should get to know it by working through the ["Beginner: CLI Tools"](https://index.ros.org/doc/ros2/Tutorials/) tutorial. This will teach you how to [configure your ROS 2 environment](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/): -* Source setup files (Understand **Underlay** & **Overlay**) -* Configure .bashrc file (shell startup script), a good example is [here](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/rpi_install.bash), line 50-95) -* Add colcon_cd to .bashrc (shell startup script) +After successfully installing ROS2 you should get to know it by working through the ["Beginner: CLI Tools"](https://index.ros.org/doc/ros2/Tutorials/) tutorial. This will teach you how to [configure your ROS 2 environment](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/) and you will learn about: + +* Source setup files (understand **Underlay** & **Overlay**) +* Configure .bashrc file (shell startup script), a good example is [here](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/rpi_install.bash), line 50-95) +* Add all _colcon_ workspaces to the shell startup script * Check environment variables (check for correct installation) * Configure *ROS_DOMAIN_ID* (DDS Network Number) * Work through the tutorials covering _turtlesim, rqt, topics, services, actions_ ## Install Instructions +The following steps describe how you can create a local copy of this repository containing ROS2 publisher and subscriber class templates. * Move to your colcon workspace `cd ` (eg. `cd ~/colcon_ws`) -* Clone this repository: `git clone https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git .` (include `.` at the end of the command !!) +* Clone this repository: `git clone https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git .` (include `.` at the end of the command in oder to copy everything to this locations!) * Build workspace: `colcon build` , __Note:__ Only the files inside _/src/_ are of importance. * Remember to run `source ~//install/local_setup.sh` after every build. -In order to prevent this repetitive command add [this command to _.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) (line 22-32). This runs everytime you start a new console. -This is also handy if you are working with multiple colcon workspaces (overlays) simultaneously. +In order to avoid this repetitive command, add line 22-32 from [_.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/nonros-files/bashrc_addons.bash) to your shell startup script. This script runs everytime you start a new console, thus loading your overlays automatically. This is very handy if you are working with multiple colcon workspaces (overlays) simultaneously. ## Workshop Content In this workshop you will: -* Create a new colcon workspace -* Create a new package inside you new colcon workspace +* Create a new _colcon_ workspace +* Create a new package inside your newly created _colcon_ workspace * `ros2 pkg create --build-type [ament_cmake, ament-python] ` -* Build your workspace, this means making it a functional ROS2 workspace from which you can start nodes: +* Build your _colcon_ workspace, this means making it a functional ROS2 workspace from which you can start nodes: * First move to your workspace root: `cd ~/` * Run `colcon build --symlink-install` -* Add your newly created workspace to source everytime you open a new console (.bashrc): - * Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) to end of .bashrc (`sudo nano .bashrc`) - * In the template above find all instances of "`~/ws_overlay_foxy`" and replace it with your path to your colcon workspace (keep the home directory variable `$HOME` as this indicates `~/` in bash script) -* Create a custom message (*.msg) in order to define custom interfaces between nodes by following these following [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/instructions_custom_topics.md). +* Add your workspace overlay to the shell startup script for sourcing everytime you open a new console: + * Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_addons.bash) to the end of .bashrc (`sudo nano .bashrc`) + * In [this template](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_addons.bash) find all instances of "`~/ws_overlay_foxy`" and replace it with the path to your own _colcon_ workspace (replace `~/` with `$HOME` for representing the home directory variable in bash scripts) +* Create a custom ROS message (*.msg) in order to define custom topics to exchange information between nodes by following [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/instructions_custom_topics.md). ## Presentation The workshop's content is covered in [this presentation](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/ws-05-ros-workshop%20%281%29.pdf). \ No newline at end of file