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Adding a Source Workspace

Description: Step-by-step instruction on how to download and run Copernius and Copernicus_simulation smoothly

Keywords: Copernicus

Tutorial Level: BEGINNER

Configuring a non-standard peripheral requires a source workspace on the robot/ remote PC. The instructions below is the step-by-step instructions on how to download and run Copernicus and Copernicus_simulation smoothly.

Instructions:

Creating a workspace
```
$ mkdir  ~p  ~/copernicus_ws/src  
```
Open the ~/copernicus_ws/src file by running:
```
$ cd  ~/copernicus_ws/src 
```

Git-clone the Copernicus repositories:

For Physical Robot

$ git clone https://github.com/botsync/copernicus.git

To use the melodic-devel repository:

$ cd copernicus
$ git checkout melodic-devel
$ cd ..

For Simulation (the Copernicus repository above is required for simulation):
```
$ git clone https://github.com/botsync/copernicus_simulation.git  
```

To use the melodic-devel repository:

$ cd copernicus_simulation
$ git checkout melodic-devel
$ cd ..

Ensure that necessary dependencies are properly installed:

$ cd ~/copernicus_ws 
$ rosdep install --from-paths src --ignore-src -r -y

Once done, catkin_make the packages
```
$ catkin_make -j1
```
Reinitialize the environment so the operating system will be able to pick up the newly installed workspace:
```
$ cd
$ source /opt/ros/melodic/setup.bash
```
To overlay this workspace on top of your ROS environment:
```
$ source ~/copernicus_ws/devel/setup.bash
```
You can also include the previous command into your .bashrc to be executed in every new terminal:
```
$ echo "source ~/copernicus_ws/devel/setup.bash" >> ~/.bashrc
```

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Adding a Source Workspace