From c7d841d01f274b56156fbd142f7db69c6e45b009 Mon Sep 17 00:00:00 2001 From: winterhalderp Date: Tue, 16 Mar 2021 14:48:43 +0100 Subject: [PATCH] Update 'README.md' --- README.md | 36 ++++++++++++++++++++---------------- 1 file changed, 20 insertions(+), 16 deletions(-) diff --git a/README.md b/README.md index 192b798..f648e4e 100644 --- a/README.md +++ b/README.md @@ -24,27 +24,31 @@ For the workshop to be conducted on your Ubuntu 20.04 (64 bit) you must conduct * 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 (underlay, overlay) -* Configure .bashrc (shell startup script) +* 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) * Check environment variables (check for correct installation) -* Configure ROS_DOMAIN_ID (DDS Network Number) -* Cover turtlesim, rqt, topics, services, actions +* Configure *ROS_DOMAIN_ID* (DDS Network Number) +* Work through the tutorials covering _turtlesim, rqt, topics, services, actions_ ## Install Instructions -* Move to colcon workspace: `cd ` -* Clone repository: `git clone git://github.com/patrickw135/pubsub.git .` (include the . at the end) -* Build workspace: `colcon build` -__Note:__ Only the files inside _src/_ are of importance. -* Remember to run `source ~//install/local_setup.sh` after every build. Best would be to [add this command to _.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) which is run everytime you start a new console. +* Move to colcon workspace: `cd `, eg. `cd ~/colcon_ws` +* Clone repository: `git clone git://github.com/patrickw135/pubsub.git .` (include "`.`" at the end of the command !!) +* Build workspace: `colcon build` , __Note:__ Only the files inside _/src/_ are of importance. +* Remember to run `source ~//install/local_setup.sh` after every build. +Best would be to [add this command to _.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) (line 22-32) which is run everytime you start a new console. +This is also handy if you are working with multiple colcon workspaces simultaneously. ## During Workshop -* Create workspace: - * Install [_colcon_](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/#colcon): `sudo apt install python3-colcon-common-extensions -y` -* Create packag inside _~/{workspace_name}/src_: +In this workshop you will: +* Create a new colcon workspace +* Create a new package inside you new colcon workspace * `ros2 pkg create --build-type [ament_cmake, ament-python] ` - * Go back up one layer: `cd ..` - * Build workspace: `colcon build --symlink-install` -* Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) to end of .bashrc (`sudo nano .bashrc`), find all instances of "`~/ws_overlay_foxy`" and replace it with your local path to your colcon workspace -* Follow [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/instructions_custom_topics.md) to create a custom message to define the interface between nodes \ No newline at end of file +* Build your 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). \ No newline at end of file