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fsai_ws_training/docs/running.md

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Running

Once the project is set up it is time to run the project.

Sourcing

Step one is to set up the environment to use this ROS project.

  • In the root folder of the project.
    • catkin_make
    • source devel/setup.bash

This will configure your terminal to use these project files going forwards. If you want to run a different project then you will need the source the setup file for that project before it will work.

catkin_make should only need to be run once.

source devel/setup.bash will need to be run in each new terminal window.

Compiling

Once you have sourced your project you need to compile it.

ROS uses a system called catkin to compile all of the individual modules for you.

  • In the root folder of the project.
    • catkin_make

Running

With you code compiled you are now able to run the various ROS nodes of your project.

There are two ways to do this.

  1. Manually.
  2. Using a launch file.

Manually is not recommended but is sometimes needed during development.

  • Run roscore in one terminal.
  • Run the individual ROS nodes you require using the rosrun command.
    • Follow the ROS tutorials if you want to know how.

Using a launch file.

  • Run roslaunch example.launch
    • All of the ROS nodes will be run for you.

In this training we are going to be using launch files.

  • Make sure that Webots is already running.
    • The simple_2022.wbt world is open.
    • The robot controller is set to <extern>.
  • Run roslaunch launch/simulation_autostart.launch.
  • The simulated vehicle should start moving.