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.

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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). These instructions use 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 the ROS system, install this software as follows:

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

If you have not yet installed the base ROS system, please follow these instructions. These typically tend to be:

1. sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -a` main" > /etc/apt/sources.list.d/ros-latest.list'

2. wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

3. sudo apt-get update

4. sudo apt-get update ros-hydro-ros-base # you may use ros-groovy-ros-base if you want

5. sudo rosdep init

6. rosdep update

7. source /opt/ros/hydro/setup.bash # it is better to source ROS environment everytime terminal starts (echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc)

8. Compile from source code
   You have two choices, one is to compile the whole rtm-ros-robotics source code, the other is to just compile the target repository.

Whichever you decide, you must first create the catkin workspace

1. mkdir -p ~/catkin_ws/src

2. cd ~/catkin_ws/src

3. wstool init .

4. Decide what you want to compile.
   To compile everything
   - rosws merge https://raw.github.com/start-jsk/rtmros_common/master/.rosinstall -y
   Otherwise, to compile only the target repository
   - wstool set rtm-ros-robotics/rtmros_common https://github.com/start-jsk/rtmros_common --git -y

5. wstool update

6. cd ..

7. source /opt/ros/hydro/setup.bash

8. rosdep install -v -r --from-paths src --ignore-src --rosdistro hydro -y

9. catkin_make

10. Contributing to rtm-ros-robotics related projects.

11. First fork the target repository on GitHub

12. Setup ROS environment $ source ~/catkin_ws/devel/setup.bash

13. Move to the package directory $ roscd <name>

14. Add your forked repository called <name> as <github>
git remote add <github> <name>
    To add this repository, you would replace <name> with https://github.com/start-jsk/rtmros_common.git. A typical <name> if you fork this repository would be, https://github.com/<your github user name>/rtmros_common.git

15. git add origin https://github.com/<your github user name>/rtmros_common

16. git pull upstream master

17. Write awesome code

18. Commit it
    git commit -m "detailed description of what you did"

19. Push to your Github repository git push <github>

20. Submit a pull request on GitHub to the upstream repository

21. Please check travic-ci status after sending your pull request.

22. Use other forked repository before merging into master.

You don't need to wait for the maintainers to merge some pull requests by others before you use them.

1. Add other remote repository to your git remote
   git remote add <awesome-fork> https://github.com/<user>/rtmros_common
2. Fetch branches from the remote
   git fetch <awesome-fork>
3. Merge those remote branch into your current branch
   git merge <awesome-fork>/<branch-name>