A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.
This document explains how to use and how to contribute to rtm-ros-robotics softwares (openrtm_aist_core, openhrp3, hrpsys, rtshell_core, rtmros_common, rtmros_hironx, rtmros_tutorial, rtmros_gazebo). The instruction uses rtmros_common
repository as an example, but also works for other rtm-ros-robotics repositories.
- Install software rtm-ros-robotics software is distributed as ros-debian packages, if you already uses ROS system, install the software as follows:
sudo apt-get install ros-$ROS_DISTRO-rtmros-common
If you did not installed ROS sysem, please follow this instruction.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -a` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get update ros-hydro-base
# you may use ros-groovy-base if you wantsudo rosdep init
rosdep update
source /opt/ros/hydro/setup.bash
# it is better to source ROS environment everytime terminal starts (echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
)
- Compile from source code You may have two choice, one is to compile all rtm-ros-robotics source code, other is to compile target repository. First, create catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
wstool init .
If compile all source code
wstool merge https://raw.github.com/start-jsk/rtmros_common/master/.rosinstall -y
Else if compile only targe repository
wstool set rtm-ros-robotics/rtmros_common https://github.com/start-jsk/rtmros_common --git -y
Both methods needs following procedures.
wstool update
cd ..
source /opt/ros/hydro/setup.bash
rosdep install -v -r --from-paths src --ignore-src --rosdistro hydro -y
catkin_make
- Contributes to rtm-ros-robotics projects.
- First fork the target repository on GitHub
- Move to the package direcotry
source ~/catkin_ws/devel/setup.bash
roscd rtmros_common
- create branch for your fix
git checkout -b your_awesome_code_branch
- write awesome code and commit to local repo
- ... wite code....
git commit -m "detailed description of what you did"
- Add your forked repository as upstream
git remote add experimental https://github.com/<your github user name>/rtmros_common
git push experimental your_awesome_code_branch
- Submit a pull request on GitHub to the repository
- Please check travic-ci status after sending your pull request.
- Uses other forked repository before merged into master.
You don't need to wait for the maintainers to merge some pull requests by others before you use them.
- Adding other's remote repository to your git remote
git remote add <awesome-fork> https://github.com/<user>/rtmros_common
- Fetch branches from the remote.
git fetch <awesome-fork>
- Merge those remote branch into your current branch
git merge <awesome-fork>/<branch-name>