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Adding a Source Workspace

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