Follow this environment setup guide!
Then create a workspace:
If you're using VSCode, access WSL by opening VSCode, pressing ctrl
+`
(below the esc
key), clicking the dropdown arrow on the right and selecting Ubuntu (WSL)
. You can also view your WSL files by opening File Explorer > Linux (bottom left) > Ubuntu > home > your Ubuntu username
.
Run
mkdir -p rov_23_ws/src
cd rov_23_ws/
git clone --recurse-submodules [email protected]:cwruRobotics/rov-23.git src
(the src is important)
If you've never contributed to a git repository before, you might receive an error message saying you don't have access. In that case visit this tutorial to set up SSH for local GitHub access.
If you don't have ros2_video_streamer
in the new src
folder, run this:
git submodule update --init --recursive
Copy src/.vscode/tasks.json
to .vscode/tasks.json
:
cp src/.vscode/tasks.json .vscode
Now, anytime you want to build, do the following:
In VSCode, press F1
and enter Tasks: Run Task
in the field until you see the
corresponding option appear. Click or hit enter on that option.
Now select ๐โโ๏ธ ROS All
to run all dependency download and building scripts.
This whole process should become F1
, Enter
, Enter
once you've done it once,
although the magic of symlink should mean you won't need to build again for most
things.
If you're working on package metadata (e.g. package.xml
) or interfaces, you'll
need to run ๐โโ๏ธ ROS Quick Build
every time you change something.
Run this command from your workspace folder
. src/.vscode/easy_all.sh
The magic of symlink should mean you won't need to build again for most
things, but if you're working on package metadata (e.g. package.xml
) or
interfaces, you'll need to run this every time you change something:
. src/.vscode/easy_build.sh
Make sure you're updated (only on the first build or if something breaks)
rosdep update --rosdistro=$ROS_DISTRO --include-eol-distros
Install dependecies (only on the first build or if something breaks)
rosdep install --from-paths src --ignore-src -r -y
Build (every time)
colcon build --symlink-install
Source your overlay (every time)
. install/setup.sh
All packages to be installed on the surface computer live in the surface
directory.
All packages to be installed on the pi compute module live in the pi
directory.
All packages to be installed on the float live in the float
directory.
Documentation will take place at 3 levels:
- High Level - Overarching Design Document outlining our general structure and what goes where.
- Device Level - ROS Docs as set out in the ROS2 standards.
- Inline Level - Inline Documentation to the level that someone who has some basic code knowledge can understand what the code does.