1 00:00:00,870 --> 00:00:07,120 In this lecture, we'll be going over creating a Ross workspace so we can organize our development files. 2 00:00:07,140 --> 00:00:12,720 So before we do anything on our computer, let's get an illustration of what our file structure should 3 00:00:12,720 --> 00:00:13,380 look like. 4 00:00:14,540 --> 00:00:18,980 First thing to start off our development is to create a workspace directory. 5 00:00:19,130 --> 00:00:24,620 Inside our workspace directory, we will create a source folder, which is where our packages we develop 6 00:00:24,620 --> 00:00:25,490 will go. 7 00:00:25,670 --> 00:00:30,980 Other folders which will also appear in the workspace folder are the build, install and log folders 8 00:00:30,980 --> 00:00:34,400 which will be auto generated once we compile our project. 9 00:00:34,580 --> 00:00:40,160 Let's go ahead and focus more on the source folder since that is where we will be organizing our project 10 00:00:40,160 --> 00:00:41,000 contents. 11 00:00:41,420 --> 00:00:45,860 As I mentioned earlier, the source folder is where our packages will be placed. 12 00:00:46,070 --> 00:00:51,920 Think of packages like individual software bundles generally used for a specific task which can then 13 00:00:51,920 --> 00:00:54,290 be shared and distributed to other developers. 14 00:00:54,530 --> 00:00:57,950 Let's go ahead and see what our package structure looks like. 15 00:00:58,990 --> 00:01:03,400 The first thing we're going to see in our package is another source folder, which is where we would 16 00:01:03,400 --> 00:01:06,740 put our code if we were developing in C++. 17 00:01:06,760 --> 00:01:12,880 Now, since we're developing in Python, we will instead make a folder called Scripts to contain all 18 00:01:12,880 --> 00:01:14,260 of our Python code. 19 00:01:14,740 --> 00:01:19,300 Also in our package are two files that are auto generated when we first create our package. 20 00:01:19,300 --> 00:01:24,970 The first is our package XML file, which contains information about our package such as the ROS packages 21 00:01:24,970 --> 00:01:29,590 and systems we are using as dependencies as well as the author and version number of the package. 22 00:01:29,800 --> 00:01:35,020 The second file is a list text file which has specific instructions on compiling our package. 23 00:01:35,110 --> 00:01:39,490 This will give information to the compiler, such as if we created a custom interface type as well as 24 00:01:39,490 --> 00:01:40,870 any build dependencies. 25 00:01:41,140 --> 00:01:45,670 So if we actually go into our scripts folder, we can see these are just where our Python scripts which 26 00:01:45,670 --> 00:01:47,300 we develop are placed. 27 00:01:47,320 --> 00:01:51,010 You can name your scripts whatever you want and you'll be able to run it directly through the ROS to 28 00:01:51,010 --> 00:01:54,310 run command after we have compiled and source our package. 29 00:01:54,340 --> 00:01:59,800 Now notice we have this init py file which for the purposes of this course we will leave blank. 30 00:01:59,800 --> 00:02:03,730 But this shows you this is organized as a typical Python library. 31 00:02:03,760 --> 00:02:07,360 Now it's worth noting that this is a very simplistic hierarchy which we will generally use for this 32 00:02:07,360 --> 00:02:08,050 course. 33 00:02:08,050 --> 00:02:13,390 But also keep in mind in package folders, you may also find things such as launch folders, custom 34 00:02:13,390 --> 00:02:17,340 message declarations, simulation configurations, and much more. 35 00:02:17,350 --> 00:02:22,150 So as long as it pertains to the purpose of the package, we will go over these in more depth throughout 36 00:02:22,150 --> 00:02:22,960 the course. 37 00:02:24,550 --> 00:02:25,010 All right. 38 00:02:25,030 --> 00:02:29,500 Now that you have a general overview of what our RA workspace file structure should look like, let's 39 00:02:29,500 --> 00:02:31,780 go ahead and create our own workspace. 40 00:02:33,620 --> 00:02:33,920 All right? 41 00:02:33,920 --> 00:02:37,430 We're honorable unto machine and we can open up our file explorer. 42 00:02:37,580 --> 00:02:42,590 Ross workspace is generally live in our home directory, so we would normally create a new folder by 43 00:02:42,590 --> 00:02:44,770 right clicking, hitting new folder. 44 00:02:44,780 --> 00:02:49,010 And if you follow a lot of tutorials on the Ross website, you would call it something along the lines 45 00:02:49,010 --> 00:02:53,090 of dev underscore CSS or workspace. 46 00:02:53,120 --> 00:02:58,460 Now in my experience this is not very descriptive of what this workspace is for, and this will start 47 00:02:58,460 --> 00:03:01,970 to get unorganized if we want to make new separate projects. 48 00:03:02,060 --> 00:03:04,910 Instead, we can call this folder workspaces. 49 00:03:06,920 --> 00:03:12,530 Now, if we go into our Workspaces folder, we can go ahead and make our actual project workspace folder, 50 00:03:12,650 --> 00:03:14,550 which we're going to be using for this course. 51 00:03:14,570 --> 00:03:18,170 So generally this would be named after a particular robot we are working on. 52 00:03:18,170 --> 00:03:25,250 But for the purposes of this course, we are just going to call this the Ross to py w for workspace. 53 00:03:25,250 --> 00:03:30,340 Just so we know this is our workspace where we work on projects related to this Udemy course. 54 00:03:30,350 --> 00:03:34,610 Now we can go into our workspace folder and create our source folder. 55 00:03:35,750 --> 00:03:40,760 Now, instead of creating a new folder for our package, we are instead going to use the Ross to package 56 00:03:40,760 --> 00:03:42,200 create command in the terminal. 57 00:03:42,200 --> 00:03:43,820 So go ahead and open up the source folder. 58 00:03:44,680 --> 00:03:46,090 I'll go ahead and open up my terminal. 59 00:03:46,540 --> 00:03:52,120 And with the terminal open, we will change into our Ross to CME Workspace source folder, which we're 60 00:03:52,120 --> 00:03:53,200 looking at right here. 61 00:03:58,030 --> 00:04:01,240 Once we're here, we will run Ross to package carry. 62 00:04:01,600 --> 00:04:02,920 I will call my package. 63 00:04:02,920 --> 00:04:04,990 Ross to underscore Udemy. 64 00:04:04,990 --> 00:04:06,640 Underscore package. 65 00:04:06,760 --> 00:04:11,290 We will also need to pass a bill type parameter in which we will use a mint. 66 00:04:11,620 --> 00:04:19,410 Make note that you could change the build type to amend python, in which case you would use a setup 67 00:04:19,690 --> 00:04:21,790 script to create your build instructions. 68 00:04:21,790 --> 00:04:25,810 For this course though I will use a mentor make and we'll talk about it a bit later. 69 00:04:27,860 --> 00:04:32,150 After running the command, we can see some text up here on the screen and we can see in our folder 70 00:04:32,150 --> 00:04:39,170 it went ahead and created our package and created some of these default folders and files for us, which 71 00:04:39,170 --> 00:04:43,630 include our see, make list, text file and package XML file we talked about earlier. 72 00:04:43,640 --> 00:04:47,330 So let's take a look at the generated package XML file. 73 00:04:53,100 --> 00:04:56,060 Here we see different fields to describe our package. 74 00:04:56,070 --> 00:05:01,350 You would generally want to fill these fields such as version, description, maintainer and license, 75 00:05:01,350 --> 00:05:03,630 before releasing your package to the public. 76 00:05:04,370 --> 00:05:08,120 We can go back now and take a look at our C list text file. 77 00:05:11,190 --> 00:05:16,110 So by default, this is our see make list text file, which has some things about our project and the 78 00:05:16,110 --> 00:05:20,180 dependencies we're going to be requiring to compile our ROS package. 79 00:05:20,190 --> 00:05:22,440 Now, for the time being, it's not syntax highlighting. 80 00:05:22,440 --> 00:05:25,500 That's because we're in restricted mode because of the way I started up vs code. 81 00:05:25,500 --> 00:05:27,900 So you can just go ahead and trust this workspace. 82 00:05:28,260 --> 00:05:29,310 And there we go. 83 00:05:29,310 --> 00:05:35,220 Now it seems to identify that we are using the make language type and we get this nice syntax highlighting 84 00:05:35,220 --> 00:05:40,890 so we can see the commands such as find package, which we're going to be using throughout this course. 85 00:05:41,040 --> 00:05:46,020 For those of you who have developed in ROS version one, you can see that the default C list text file 86 00:05:46,020 --> 00:05:48,450 has gotten much shorter and cleaner looking. 87 00:05:48,540 --> 00:05:53,310 We will edit this file later in the course to tell the compiler about any dependencies we need for our 88 00:05:53,310 --> 00:05:54,540 ROS package. 89 00:05:54,810 --> 00:05:59,700 The last thing I will do to wrap up our workspace is create a scripts directory so we have a place to 90 00:05:59,700 --> 00:06:01,440 put our python files. 91 00:06:01,860 --> 00:06:06,930 Even though we haven't created any new code yet, we can go ahead and build our workspace to do this. 92 00:06:06,930 --> 00:06:11,490 We can navigate back to our workspace directory within our terminal. 93 00:06:14,120 --> 00:06:17,360 So here I'm in my RA two pi workspace folder. 94 00:06:18,730 --> 00:06:19,330 Right here. 95 00:06:20,160 --> 00:06:22,710 And we can go ahead and run, can build. 96 00:06:24,290 --> 00:06:25,400 So we're running the command. 97 00:06:25,400 --> 00:06:31,100 It begins building our package we've built successfully and it's generated our build, install and log 98 00:06:31,100 --> 00:06:31,910 folders. 99 00:06:31,910 --> 00:06:33,920 If you're having trouble running this command, you get an error. 100 00:06:33,920 --> 00:06:35,560 Sinkhole can build does not exist. 101 00:06:35,570 --> 00:06:41,450 Feel free to check out the following docs page and make sure you have your Python three Culkin Common 102 00:06:41,450 --> 00:06:43,220 Extensions installed. 103 00:06:44,980 --> 00:06:47,140 Now to include our package in our terminal environment. 104 00:06:47,140 --> 00:06:52,720 We need to source the setup bash file within the install directory so we can actually go ahead and look 105 00:06:52,720 --> 00:06:53,370 at that here. 106 00:06:53,380 --> 00:06:58,060 So here in our install directory, we see we have a setup batch file which is going to set up our terminal 107 00:06:58,060 --> 00:06:59,320 environment for us. 108 00:07:03,840 --> 00:07:09,420 Now our terminal is aware of our newly created ROS package and we can check this by running the ROS 109 00:07:09,420 --> 00:07:11,100 to package list command. 110 00:07:11,550 --> 00:07:17,730 And here we can see our ROS two package listed amongst the various packages here that came with our 111 00:07:17,730 --> 00:07:19,110 ROS installation. 112 00:07:22,720 --> 00:07:23,710 Congratulations. 113 00:07:23,710 --> 00:07:28,750 You have successfully created your very own Ross two package, but let's review what we learned. 114 00:07:30,180 --> 00:07:33,540 In this lecture, we learned how to create our Ross workspace. 115 00:07:33,540 --> 00:07:39,180 We created a new ROS to package by creating our workspace and source folders, changing into the source 116 00:07:39,180 --> 00:07:44,280 directory, and then running the ROS to package create command where we gave our package a name and 117 00:07:44,280 --> 00:07:46,830 set the build type to amend see make. 118 00:07:47,220 --> 00:07:51,510 Then we compiled our workspace by running Call can build in the workspace directory. 119 00:07:51,720 --> 00:07:57,420 We could then source the setup bash file in the install directory to make our terminal environment aware 120 00:07:57,420 --> 00:07:59,370 of the new package we created.