A mostly C++ ROS2 workspace
The workspace contains several interesting visual mini-games with their respective ROS2 interfaces
- Robo Collector - focused on learning ROS2 topics
- Robo Miner - focused on learning ROS2 services
- Robo Cleaner - focused on learning ROS2 actions
Ament CMake (Colcon) meta build system usage
colcon build #build all packages with default settings
colcon build --symlink-install #create symbolic links for python, urdf, xacro, yaml files instead of copies
colcon build --packages-up-to <package_name> #build package_name and all of it's dependencies
colcon build --packages-select <package_name> #build only package_name without it's dependencies (faster if you have the dependencies already built)
colcon build --event-handlers console_direct+ --event-handlers console_cohesion+ #show build and install process logs
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++ #provide any list of CMake args
#all of the colconn build command can be combined
#for full information check `colcon build --help
Automatic asset information generation The first time the project is build it will fail compilation, because you are missing some auto-generated headers. To resolve this follow the instructios:
# build the resource builder tool
colcon build --symlink-install --packages-up-to resource_builder --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++
# auto generate C++ headers and asset information for the GUI projects:
./install/resource_builder/lib/resource_builder/resource_builder src/robo_collector/robo_collector_gui
./install/resource_builder/lib/resource_builder/resource_builder src/robo_collector/robo_collector_controller
./install/resource_builder/lib/resource_builder/resource_builder src/robo_miner/robo_miner_gui
./install/resource_builder/lib/resource_builder/resource_builder src/robo_cleaner/robo_cleaner_gui
./install/resource_builder/lib/resource_builder/resource_builder src/ur_dev/ur_control_gui
# build the whole workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++
Dependency hierarchy diagram
