## page was renamed from Robots/Copernicus/Tutorials/Adding a Source Workshop
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## descriptive title for the tutorial
## title = Adding a Source Workspace 
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## description = Step-by-step instruction on how to download and run Copernius and Copernicus_simulation smoothly 
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## keywords = Copernicus
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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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