RSP Final Project
mkdir -p <workspace_dir>/src
cd <workspace_dir>/src
git clone git@github.com:jdcast/rsp-final-project.git
vcs import --recursive < rsp-final-project/galactic.repos
cd ..
rosdep -v install --from-paths src/rsp-final-project/ -y --ignore-src --skip-key="orocos_toolchain orocos_kdl rtt_ros2_services rtt_ros2_sensor_msgs rtt_ros2_std_msgs rtt_ros2_geometry_msgs rtt_ros2_topics rtt_ros2_params rtt_ros2_node rtt_ros2 kdl_typekit reflexxestype2 robot_joint_publisher_gui ign_ros2_control ign_ros2_control_demos"
colcon build --packages-select orocos_toolchain
source install/setup.bash
sudo apt install ros-galactic-moveit-common && sudo apt install ros-galactic-moveit && sudo apt install ros-galactic-moveit-servo && sudo apt-get install ros-galactic-ros2-control && sudo apt-get install ros-galactic-ign-ros2-control && sudo apt-get install ros-galactic-test-msgs && sudo apt-get install ros-galactic-ros-ign && sudo apt-get install ros-galactic-joint-state-publisher-gui
export IGNITION_VERSION=fortress
colcon build && source install/setup.bash && export COLCON_PREFIX_PATH=<path_to_workspace_dir>/install && rsp_rtt && echo $COLCON_PREFIX_PATH && echo $RTT_COMPONENT_PATH
- NOTE: make sure to replace <workspace_dir> with your workspace directory in the paths above
- NOTE: rsp_rtt should be defined in the
.bashrc
as:alias rsp_rtt='export RTT_COMPONENT_PATH=$COLCON_PREFIX_PATH/kdl_typekit/lib/orocos:$COLCON_PREFIX_PATH/orocos_toolchain/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_builtin_interfaces/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_geometry_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_interfaces/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_node/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_params/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_primitives_typekit/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_rclcpp_typekit/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_std_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_topics/lib/orocos:$COLCON_PREFIX_PATH/rsp_week07/lib/orocos:$COLCON_PREFIX_PATH/rtt_ur_trajectory/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_sensor_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_services/lib/orocos'
ros2 launch robot robot.launch.py
rm -rf install/ build/ log/
- follow steps 1-10 above
git checkout <branch_name>
<do work>
git add -A
git commit -am "<descriptive commit message beginning with action verb>"
git push
form Pull Request (PR) in github
await others to review
merge PR into main
- if further work on <branch_name> needs to be done after merging its PR into
main
: (let's not usegit rebase
to save possible headaches...https://stackoverflow.com/questions/3876977/update-git-branches-from-master)git checkout main
git pull
# update local main from remote maingit checkout feature/<branch_name>
git merge main
# solve merge conflicts if you havegit push
- Read the Docs
- Reproducible Builds
- pip-tools
- sphinx
- Read the Docs Sphinx Theme
- Pushes on
main
will trigger rebuilds at for Project Documenation - To View Locally:
- cd
docs/source
sphinx-build -b html . ../build/html/
- point browser to
build/html/index.html
- cd