ROS course 003: git respository

1. Summary

This course was originally written at quita. If you find this is useful, go there and give srs some thumb up.

2. Environment

This post is tested under the following Environment:

Item	Value
CPU	AMD Ryzen 5 2600
Ubuntu	18.04
ROS	Melodic

3. Source code location

The source code of this couse is available at github

4. Usage

4.1. Install ROS

See 02 install。

4.2. source code

Our ROS workspace is as followed.

/ros_ws/
├── build
├── devel
└── src
    ├── 3rdparty                    <------ dependencies
    ├── CMakeLists.txt
    └── tutorial
          ├── ros_lecture           <----- source code
                ├── adv_lecture
                ├── basic_lecture
                ├── cam_lecture
                ├── hard_lecture
                ├── info_lecture
                ├── laser_lecture
                ├── LICENSE
                ├── nav_lecture
                ├── net_lecture
                ├── obstacle_detector
                ├── plugin_lecture
                ├── py_lecture
                ├── qt_lecture
                ├── sim1_lecture
                ├── sim2_lecture
                ├── sim3_lecture
                ├── vis_lecture
                └── web_lecture

Create workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

Download source code

cd ~/catkin_ws/src/tutorial
git clone https://github.com/project-srs/ros_lecture

Reload terminal

source ~/catkin_ws/devel/setup.bash

Build source code

cd ~/catkin_ws
catkin_make

If there’s any missing dependencies error, we choose between following 2 approaches. We’re using melodic which is a quite new distribution, so i prefer the second approach

1. Install dependencies using apt
2. Download and put dependencies source code inside 3rdparty

Create eclipse project

cd ~/catkin_ws
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"
# generate .project
awk -f $(rospack find mk)/eclipse.awk build/.project > build/.project_with_env && mv build/.project_with_env build/.project

Open Eclipse and import into eclipse : File -> Import Project -> select Build directory. Detail is at ros_eclipse. In my environment, it will look like this

4.3. How to run

After downloading and building source code, follow instruction at each tutorial to run the source code.

4.4. Tutorial and file relation

In the beginning of each tutorial, i’ll add a simple structure of used files in corresponding tutorial. File name is also embedded in the beginning of each code block. Example is as follow:

// basic_lecture/src/basic_simple_talker.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"

5. Table of Contents

ROS TOC