Codebase for Robotics 88 drone/sim ROS packages.
sudo apt install clang lld libomp-dev ccache git-lfs
mkdir -p ~/.ccache
touch ~/.ccache/ccache.conf
echo "max_size = 10G" >> ~/.ccache/ccache.conf
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
git lfs install
mkdir -p ~/src/distal_ros2
cd ~/src/
git clone [email protected]:robotics-88/distal.git distal_ros2
cd distal
Run
./setup_workspace.sh
colcon build
Sim:
ros2 launch vehicle_launch decco.xml simulate:=true
Decco:
ros2 launch vehicle_launch decco.xml
You can of course add whatever arguments are available in decco launch in addition. If you get RLException, try again in a new bash terminal window (so that the .bashrc sources the environment setup variables for this ROS workspace).
When creating a multi-repo PR, create a vcs file for those testing to quickly set their workspace so all repos are on the correct branch. Because github doesn't like .repos, and vcs doesn't care about the extension, name it with extension .txt. The file should only list those repos required for the PR. One quick way to do this is, in your workspace with all repos on the PR branches, run:
vcs export > prname.txt
Then delete from the file any repos not changed by the PR.
vcstool helps to track a multirepo workspace. Frequently used commands:
vcs branch: Check what branch everthing is on.vcs import < my.repos: Pull all repos to the branches listed.vcs status: Show git status for all repos.vcs pull: Do git pull for all repos.