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Turbot stack

Installation

Clone this repository and execute the script install_first_time.sh

(turbot_stack)$ ./install_first_time.sh

Wait for the code to download.

Install dependencies

  $ sudo apt install libgeographic-dev ros-melodic-geographic-msgs ros-melodic-rosbridge-server
  $ sudo pip install ruamel.yaml

pose_cov_ops has been included in the stack because the latest version of this package does not switch correctly between ROS1 and ROS2. For computers that have a working version of pose_cov_ops installed in /opt/ros/melodic a CATKIN_IGNORE must be included in the stack package, otherwise pose_cov_ops must be compiled.

Working with submodules

  1. Pull twice: On the main repository execute git pull && git submodule foreach git pull.
  2. Push twice: Work with the code in any submodule as usual. Commit and push as usual. At the end, go to the main repository and check what a git status shows. It will normally show that a particular repo has changed. For example:

Say we have a main repo called robot and a submodule called sensor. If we update it, we have to commit twice, one for the submodule and another for the main repo.

  $ ls robot/
       ./
       ../
       sensor/
  $ cd sensor
  $ git touch test.txt
  $ git add test.txt
  $ git commit -m "added file test"
  $ git push
  $ cd ..
  $ git status
      On branch master
      Your branch is up-to-date with 'origin/master'.

      Changes not staged for commit:
        (use "git add <file>..." to update what will be committed)
        (use "git checkout -- <file>..." to discard changes in working directory)
        (commit or discard the untracked or modified content in submodules)

        modified:   sensor (modified content)

      no changes added to commit (use "git add" and/or "git commit -a")
  $ git add sensor
  $ git commit -m "updated sensor reference"
  $ git push

Remove submodule

To remove a submodule you need to:

  • Delete the relevant section from the .gitmodules file.
  • Stage the .gitmodules changes git add .gitmodules
  • Delete the relevant section from .git/config.
  • Run git rm --cached path_to_submodule (no trailing slash).
  • Run rm -rf .git/modules/path_to_submodule (no trailing slash).
  • Commit git commit -m "Removed submodule "
  • Delete the now untracked submodule files rm -rf path_to_submodule