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 to works for other rtm-ros-robotics repositories.

1. 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 want
• sudo 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)

2. 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

• rosws 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

3. 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
• Add your forked repository as upstream
• git remote name origin upstream
• git add origin https://github.com/<your github user name>/rtmros_common
• git pull upstream master
• write awesome code
• git commit -m "detailed description of what you did"
• git push origin master
• Submit a pull request on GitHub to the repository
• Please check travic-ci status after sending your pull request.

4. 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>