/microvascular-anastamosis

RSP Final Project

Primary LanguageC++MIT LicenseMIT

microvascular-anastamosis

RSP Final Project

Installation

  1. mkdir -p <workspace_dir>/src
  2. cd <workspace_dir>/src
  3. git clone git@github.com:jdcast/rsp-final-project.git
  4. vcs import --recursive < rsp-final-project/galactic.repos
  5. cd ..
  6. 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"
  7. colcon build --packages-select orocos_toolchain
  8. source install/setup.bash
  9. 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
  10. export IGNITION_VERSION=fortress
  11. colcon build && source install/setup.bash && export COLCON_PREFIX_PATH=<path_to_workspace_dir>/install && rsp_rtt && echo $COLCON_PREFIX_PATH && echo $RTT_COMPONENT_PATH
    1. NOTE: make sure to replace <workspace_dir> with your workspace directory in the paths above
    2. NOTE: rsp_rtt should be defined in the .bashrc as: alias rsp_rtt='export RTT_COMPONENT_PATH=$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'
  12. ros2 launch robot robot.launch.py

Updating if installed repository before vcs/rosdep

  1. rm -rf install/ build/ log/
  2. follow steps 1-10 above

Workflow

  • 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 use git 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 main
    • git checkout feature/<branch_name>
    • git merge main # solve merge conflicts if you have
    • git push

Documentation

Documentation Tools