Gilbertos Source

ROS Tutorial: Workspaces

Workspaces, packages, and Worlds

Download the workspace creation script:

https://gilbertoamarcon.github.io/content/create-ws.html

Create a workspace called "ws":

./create-ws.sh ws

Source the bashrc to update environment variables:

source ${HOME}/.bashrc

Use roscd to go to your workspace root directory.
That's a good way to check if your worspace was created correctly.

roscd

If it all works, you will be taken to the following directory:

~/ros-ws/ws/devel

Download the package creation script:

https://gilbertoamarcon.github.io/content/create-package.html

Create a package named my_package inside your workspace:

./create-package.sh ws my_package

Go to your package root directory:

roscd my_package

This is where all the files related to your package will reside.
Now, go to your workspace root:

roscd

And go to the the src dirctory of your workspace:

cd ../src/

Take a look at the contants of the src dir:

ls -l

Your package is there.
Now, let's put there a package from a git repository:

git clone git@github.com:gilbertoamarcon/testbed.git

Now we have two packages there:

ls -l

Source the bashrc to update environment variables:

source ${HOME}/.bashrc

Go to your package root directory:

roscd testbed/

This is an example package that I made a while back. We wil not use most of its contents, but it servers as an example of a custom made package.

ls -l

Type the following, and tap TAB a few times to see all the available executable code in this package:

rosrun testbed

Go to the models' directory of the testbed package:

roscd testbed/models

Run the following script to automatically create some object models:

./create-models.sh

The models are used in our arena world.
Go to the worlds' directory of the package:

roscd testbed/worlds/

Take a look at the arena.world:

cat arena.world

Now we have the arena.world configured.
See how the following command points to the arena.world:

echo $(rospack find testbed)/worlds/arena.world

Now, use the following guide to map and navifgate the arena world:

https://gilbertoamarcon.github.io/content/ros-jackal.html