How to bootstrap the Pilsbot project

• Install ROS2. See The ROS2 installation page
  • Don't forget to source /opt/ros/your_ros_version/setup.bash
  • Make sure you have colcon: sudo apt install python3-colcon-common-extensions
• Install vcstool
• git clone --branch ros2 git@github.com:pilsbot/workspace.git pilsbot && cd pilsbot
• source env.sh
• pilsbot init
• pilsbot build

Get some help (lel)

• pilsbot help

Source project environment variables

• source env.sh

Update packages

• pilsbot update

Build packages

• pilsbot build
• Note that you can pass arguments like pilsbot build --symlink-install

Start things

• pilsbot launch pilsbot_simulation pilsbot.launch.py
• pilsbot launch pilsbot_simulation pilsbot_control_test.launch.py

Test things

1. rqt (or rqt --force-discover if Robot Tools is not shown in step 2)
2. Plugins->Robot Tools->Robot Steering Akermann
3. Topic /pilsbot_velocity_controller/cmd_vel
4. You should see something like this:

Clean workspace

• pilsbot clean

How to adapt the modules to import:

• Change .rosinstall according to the vcs-YAML file format
• Validate your changes if you are unsure about the file format
• pilsbot update
• pilsbot build