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Building and Sourcing Packages
Build dev_ws
by running the following command. colcon build
compiles the source code and installs necessary files of all packages in the workspace.
cd ~/arcturus/dev_ws
colcon build --symlink-install
If installed the VRX simulation environment, build vrx_ws
by running:
cd ~/arcturus/vrx_ws
colcon build --merge-install
You can also select specific packages to build by running the following command where <packages_to_select>
is a space-separated list of packages.
colcon build --symlink-install --packages-select <packages_to_select>
A good rule of thumb is to rebuild a package if you added a new file or modified a C++ file. But when in doubt, colcon build
!
To use a ROS package, you have to source the setup file of the workspace the package is in. First, to have access to ROS 2 commands, you need to run this command on every new shell:
source /opt/ros/humble/setup.bash
Then, to use the all_seaing_vehicle packages, you have to source dev_ws
by running this command:
source ~/arcturus/dev_ws/install/setup.bash
Finally, if applicable, source vrx_ws
:
source ~/arcturus/vrx_ws/install/setup.bash
Running these commands in every new terminal can be time-consuming, so it is recommended that you put them in your .bashrc
, a shell script that runs every time a new terminal is opened.
Open ~/.bashrc
using your favorite text editor. Some common ones are nano
, vim
, neovim
, emacs
, and gedit
.
nano ~/.bashrc
Add the following lines to the end:
source /opt/ros/humble/setup.bash
source ~/arcturus/dev_ws/install/setup.bash
source ~/arcturus/vrx_ws/install/setup.bash
Save your new .bashrc
and open a new terminal. Your new terminal should have ROS 2 and all_seaing_vehicle packages activated.