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.

.. contents::

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.

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

• 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

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
• 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.

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>

While in current design the package depends on pr2_controllers_msgs <http://wiki.ros.org/pr2_controllers_msgs>_ that's catkinized from ROS hydro onward and not available in ROS groovy, some hacks allow the package not to separate branches (regardless it's good or not, doing so is the decision as of March 2014). This requires another hack during release process using bloom as follows:

1. Run bloom <http://wiki.ros.org/bloom>_ as normal. E.g. $ bloom-release --rosdistro groovy --track groovy rtmros_common.
2. Once bloom halts and its command prompt starts waiting on the same terminal (the output might look as following), edit package.xml to comment out lines for declaring build and run depend on pr2-controllers.

::

$ bloom-release --rosdistro groovy --track groovy rtmros_common
:
>>> Resolve any conflicts and when you have resolved this problem run 'git am --resolved' and then exit the shell using 'exit 0'. <<<
    To abort use 'exit 1'
(bloom)emacs package.xml 

Modify package.xml as:

::

:  
<!-- <build_depend>pr2_controllers</build_depend> -->
:
<!-- <run_depend>pr2_controllers</run_depend> -->
:

3. Run git add, $ git am --skip, git commit like below, and exit 0 respectively. If all succeeds then bloom resumes.

::

(bloom)git add package.xml
(bloom)git am --skip
Resolve operation not in progress, we are not resuming.
(bloom)git commit -m "3rd trial commentout pr2 pkg" -a
[release/groovy/hrpsys_ros_bridge 1c05bbc] 3rd trial commentout pr2 pkg
 1 file changed, 1 insertion(+), 1 deletion(-)
(bloom)git status
# On branch release/groovy/hrpsys_ros_bridge
# Your branch is ahead of 'origin/release/groovy/hrpsys_ros_bridge' by 8 commits.
#
nothing to commit (working directory clean)
(bloom)exit 0
exit
 [git-bloom-patch import]: User reports that conflicts have been resolved, continuing.
 [git-bloom-patch import]: Applied 2 patches
:
(bloom continues)