Robot-over-ROS2

Robot implementation using Robot Operating System V2

PUblisher/subscriber nodes HOLA Test on branches HOLA alo123

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Setup

Ref: https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html

1. Create a workspace folder in home
2. Create a new folder named src inside your workspace
3. Go to home in a terminal:

cd ~

4. Go to src folder in your workspace. Change my_name_ws accordingly

cd my_name_ws/src/

Clone without folder instructions> https://stackoverflow.com/questions/17581379/git-clone-without-project-folder

command example:

git clone https://github.com/roncanciovl/Robot-over-ROS2.git .

4. Resolve dependencies according to your distro

cd ..
rosdep install -i --from-path src --rosdistro foxy -y

Return: All required rosdeps installed successfully

This may requiere before

sudo rosdep init

rosdep update

5. Open VSCode, got to the menu and select file, an then select open folder and select our workspace in home. This show our workspace in the VScode explorer

6. In a terminal go to your workspace

colcon build

7. Sourve the overlay according to your distro

source /opt/ros/foxy/setup.bash

. install/local_setup.bash

Virtual Environment Setup in Linux

https://docs.ros.org/en/foxy/How-To-Guides/Using-Python-Packages.html

sudo apt install python3-pip

sudo apt install python3-virtualenv

Make a virtual env and activate it

From your workspace directory run this command

virtualenv -p python3 ./venv

source ./venv/bin/activate

Make sure that colcon doesn’t try to build the venv

touch ./venv/COLCON_IGNORE

Next, install the Python packages that you want in your virtual environment:

if any requirement file is in the src folder, then install them for command line

pip install -r src/requirements.txt

Now you can build your workspace and run your python node that depends on packages installed in your virtual environment.

Source Control Recommendations

2. For new features, create a new branch. Name it according to the feature. You may add it to the github repo.

BUENOS DIAS :) ADIOS hola willy HOla reyes