running.md

# 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.