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setup_oceanwaters.md

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If you have not yet done so, set up your development environment.

Setup OceanWATERS

ROS Workspaces

ROS uses custom tools called Catkin and wstool to manage workspaces. Catkin is a build system that sits on top of CMake, and wstool is a meta-vcs tool that allows you to manage multiple source repositories. Reading Catkin documentation and going through some of the tutorials is recommended if you've never used it before.

wstool is quite straightforward and can be picked up easily. Basically, wstool will look at a .rosinstall file that contains the repos to check out or update. You can perform operations like update, diff, and status on multiple repositories at once.

Create OceanWATERS Workspace

  • Create your workspace directory
mkdir -p oceanwaters_ws/src
cd oceanwaters_ws/src
  • Next, check out the top level oceanwaters repo which contains the default .rosinstall workspaces
git clone https://github.com/nasa/ow_simulator
  • Symlink the .rosinstall you're interested in into the src directory and run wstool. This will check out all the repos necessary to build the workspace.
ln -s ow_simulator/oceanwaters/workspaces/oceanwaters.rosinstall .rosinstall
wstool up
  • To build the workspace, cd back up to the workspace directory, source the ROS environment, and run catkin build. The first time you build should take an extra long time as the build process downloads around 2 GB of 3rd party code and data. The code and data will be cached in the src/ tree, so subsequent builds should be much faster.
cd ..
source /opt/ros/melodic/setup.bash
catkin build
  • NOTE: if catkin is not found, it was somehow left out of your ROS install. Try:
sudo apt-get install python-catkin-tools
  • The workspace should now be compiled and ready to run. Source the workspace environment.
source devel/setup.bash
  • Launch the sim
roslaunch ow europa_terminator_workspace.launch