Permalink
Cannot retrieve contributors at this time
Name already in use
A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Are you sure you want to create this branch?
fsai_ws_training/docs/running.md
Go to fileThis commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
56 lines (33 sloc)
1.53 KB
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
# 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. |