1. Quick start with RosTeamWorkspace

This tutorial shows use of RosTeamWorkspace for very common use-cases that can be done without permanent changes to your environment. First you have to clone and source the workspace and then continue with the use-case you are interested in:

1.1. Clone and source the RosTeamWorkspace

git clone https://github.com/StoglRobotics/ros_team_workspace.git
source ros_team_workspace/setup.bash
setup-auto-sourcing  # Make RosTeamWorkspace automatically sourced when open a new terminal (The best experience)

1.2. Create new package in an existing workspace

For more details check use-case description.

source <path to your ROS workspace>/install/setup.bash
cd <src folder of your ROS workspace>

create-new-package <my_new_package_name> <"Some cool description of the package.">  # follow the instructions and remember to set a license

cd .. && colcon build --symlink-install  # to compile your newly created package

1.3. Create robot description package

For more details check use-case description.

Warning

You must have a <my_cool_robot_description_package_name> package of build type ament_cmake to hold the robot description.

source <path to your ROS workspace>/install/setup.bash
cd <src folder of your ROS workspace>/<my_cool_robot_description_package_name>

setup-robot-description <my_cool_robot_name>

1.4. Create robot bringup package

For more details check use-case description.

Warning

You must have a <my_cool_robot_bringup_package_name> package of build type ament_cmake to hold the robot bringup.

source <path to your ROS workspace>/install/setup.bash
cd <src folder of your ROS workspace>/<my_cool_robot_bringup_package_name>

setup-robot-bringup <my_cool_robot_name> <my_cool_robot_description_package_name>

1.5. Setup ros2_control control hardware

For more details check use-case description.

Warning

You must have a <my_cool_robot_control_package_name> package of build type ament_cmake to hold the robot’s ros2_control hardware interface.

source <path to your ROS workspace>/install/setup.bash
cd <src folder of your ROS workspace>/<my_cool_robot_control_package_name>

ros2_control_setup-hardware-interface-package <my_cool_robot_hardware> [<MyCoolRobotHW>]

1.6. Setup ros2_control controller

For more details check use-case description.

Warning

You must have a <my_cool_robot_controller_package_name> package of build type ament_cmake to hold the robot’s ros2_control controller.

source <path to your ROS workspace>/install/setup.bash
cd <src folder of your ROS workspace>/<my_cool_robot_controller_package_name>

ros2_control_setup-controller-package <my_controller_file_name>