rtmros_common

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.

Install

This document explains how to use and how to contribute to rtm-ros-robotics software (openrtm_aist, openhrp3, hrpsys, rtshell, rtctree, rtsprofile, rtmros_common, rtmros_hironx, rtmros_tutorials, 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 use ROS system, install the software as follows:

• sudo apt-get install ros-${ROS_DISTRO}-rtmros-common

If you did not install ROS system, 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-${ROS_DISTRO}-base
• sudo rosdep init
• rosdep update
• source /opt/ros/${ROS_DISTRO}/setup.bash # it is better to source ROS environment every time terminal starts (echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc)

2. Compile from source code

You may have two choices, one is to compile target repository (rtmros_common) only, the other is to compile all rtm-ros-robotics source code. First, create catkin workspace and add the target repository (rtmros_common):

• mkdir -p ~/catkin_ws/src
• cd ~/catkin_ws/src
• wstool init .
• wstool set rtmros_common https://github.com/start-jsk/rtmros_common --git -y

If you want to compile all source code:

• (If the target repository is not rtmros_common) wstool set rtmros_common https://github.com/start-jsk/rtmros_common --git -y
• (On kinetic distribution) sudo apt-get install libopencv-dev
  • Skipping this may cause runtime error
• wstool merge https://raw.githubusercontent.com/start-jsk/rtmros_common/master/.travis.rosinstall -y
• wstool merge https://raw.githubusercontent.com/start-jsk/rtmros_common/master/.travis.rosinstall.${ROS_DISTRO} -y
  • Please ignore Unable to download URL error on indigo distribution

Both methods need following procedures:

• wstool update
• cd ..
• source /opt/ros/${ROS_DISTRO}/setup.bash
• rosdep install -r --from-paths src --ignore-src -y
• sudo apt-get install python-catkin-tools
• catkin build

3. Contribute to rtm-ros-robotics projects.

• First fork the target repository on GitHub
• Move to the package directory
  • 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
  • ...Write 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 travis-ci status after sending your pull request.

4. Use 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>

For maintainers

Tweak to release into Groovy

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)