WEBVTT 00:00.110 --> 00:04.220 In this lesson you will see how to create and setup a roster workspace. 00:04.250 --> 00:09.590 This workspace will be the place where you write all your code for a roster application, and that's 00:09.590 --> 00:13.070 also where you will install and compile this code. 00:13.160 --> 00:16.250 So let's create a workspace for this course. 00:16.250 --> 00:19.340 First let's go to the home directory. 00:19.340 --> 00:22.220 So with CD make sure you are in your home directory. 00:22.220 --> 00:31.970 And in this directory we are going to create another directory so mkdir and let's name it ros2 underscore 00:32.540 --> 00:33.440 aws okay. 00:33.440 --> 00:36.740 So workspace basically is just a directory. 00:36.740 --> 00:38.570 And how to name this workspace. 00:38.570 --> 00:40.430 Well you can use whatever you want. 00:40.430 --> 00:47.180 For example if your application is named ABC you can use the name ABC and then underscore AWS. 00:47.180 --> 00:51.560 Here I'm using Ros2 AWS which is quite common to get started. 00:51.560 --> 00:53.420 So let's create this workspace. 00:53.420 --> 01:01.090 So this directory we are going to go inside this directory and create another one. 01:01.780 --> 01:05.050 Which name is src for source? 01:05.080 --> 01:08.650 Okay, so now we have a ros2 workspace directory. 01:08.650 --> 01:11.350 And inside that we have a source directory. 01:11.350 --> 01:14.770 And that's all you need to initialize your workspace. 01:14.770 --> 01:20.830 And then all the code that we create for the course and for this application will be inside the src 01:20.860 --> 01:21.430 folder. 01:21.430 --> 01:26.560 Now that we have created the workspace we can actually start to build it and to set it up. 01:26.560 --> 01:32.290 So every time we will want to install nodes later in this course we will need to build the workspace. 01:32.290 --> 01:33.520 How to build the workspace. 01:33.520 --> 01:36.250 Well you will first go to this directory. 01:36.250 --> 01:42.940 So if you were somewhere else you go back to the Ros2 workspace directory not in the source okay. 01:42.970 --> 01:45.730 You go to the Ros2 workspace directory. 01:45.730 --> 01:47.890 That's super, super important. 01:47.890 --> 01:53.830 And from that directory you can do kernel code space build okay. 01:53.860 --> 01:56.170 Call clone is the build tool for us to. 01:56.200 --> 01:59.070 And with build you can just build the workspace. 01:59.340 --> 02:02.580 So I press enter and you can see what it was quite quick. 02:02.580 --> 02:05.310 We have zero packages to build. 02:05.310 --> 02:09.120 So you see it was successfully built very quickly. 02:09.120 --> 02:13.500 And now if I do LS again, you can see we still have the source folder. 02:13.500 --> 02:17.700 But we have three new folders build, install and log. 02:17.730 --> 02:17.940 Okay. 02:17.970 --> 02:21.510 That's going to be generated automatically when you run curl build. 02:21.510 --> 02:28.530 Now if the curl command didn't work make sure you have installed the Ros dev tool package. 02:28.530 --> 02:33.870 So with sudo apt install ros dev tools okay. 02:33.900 --> 02:36.360 That's something we have done in the installation section. 02:36.360 --> 02:38.670 But make sure you have this package. 02:40.380 --> 02:46.110 And now that we have built our workspace the first time, let's go inside the install folder here. 02:46.110 --> 02:49.170 And you can see we have a bunch of scripts here. 02:49.170 --> 02:52.410 And there is something similar to what you've seen previously. 02:52.410 --> 02:55.530 You see we have a setup dot bash script. 02:55.530 --> 02:57.820 There is also a local setup that bash. 02:57.850 --> 03:05.530 Okay, so if you remember in the folder where Ros2 was installed in slash opt slash Ros, we had a setup 03:05.680 --> 03:10.720 bash script that we need to source in order to get access to Ros2 functionalities. 03:10.750 --> 03:12.040 Well, here it's the same. 03:12.040 --> 03:18.670 We have a setup bash script that we need to source if we want to get access to our workspace functionalities. 03:18.670 --> 03:25.240 And basically you have a local setup that's just going to source this workspace and setup bash, that's 03:25.240 --> 03:29.230 going to source both the global Ros2 installation and this workspace. 03:29.230 --> 03:31.810 But well, let's keep things simple here. 03:31.810 --> 03:34.090 Let's just use this setup bash okay. 03:34.090 --> 03:37.150 That's a nuance that we don't really need to explore right now. 03:37.150 --> 03:42.340 So if I have installed stuff in my workspace and I want to be able to use it, I need to source this 03:42.340 --> 03:46.900 setup dot bash right here from my workspace. 03:46.900 --> 03:50.020 And as you can guess, that's going to be quite annoying to do it every time. 03:50.020 --> 03:54.280 So we are going to add this inside the bash RC okay, so let's go. 03:54.310 --> 04:00.350 Well we can go to the home directory and just use git dot bash rc. 04:01.760 --> 04:07.820 Okay, so the last line for now is this one to source the global Ros2 installation. 04:07.820 --> 04:14.270 And then we are going to do source with the path to this script. 04:14.270 --> 04:16.400 So it's going to be tilde. 04:16.400 --> 04:23.930 So home directory slash Ros2 workspace slash install I'm just going to copy that here slash. 04:23.930 --> 04:26.180 And let's use the setup dot bash. 04:26.420 --> 04:26.810 All right. 04:26.810 --> 04:31.730 So now in our bashrc we source first the global Ros2 installation and then the workspace. 04:31.760 --> 04:35.330 It's very important that you respect this order okay. 04:35.360 --> 04:37.370 And that's going to be it for the bash RC. 04:37.490 --> 04:40.160 Make sure to save the file okay. 04:40.340 --> 04:42.560 And then let's close that. 04:42.560 --> 04:48.140 So now if I open a new terminal I know that my workspace so Ros2 is correctly source. 04:48.140 --> 04:50.810 And my workspace is correctly sourced as well. 04:50.810 --> 04:52.340 And that's the end of the setup. 04:52.340 --> 04:54.770 Now we can start to create packages.