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In this lecture, we're going to take a look at different ways we can compile our package, which is

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going to be a bit helpful for us later on in the future.

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So if I open up Visual Studio Code and I head over to my make list text file when we were installing

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our Python scripts, we call this install command, followed by the name of each of our scripts and

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we specified a destination lib slash project name.

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What this did was made a copy of our Python scripts in the install directory of our workspace.

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So for example if I had to me Ross to package lib.

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And then our package name, this is the lib package name that we're specifying here in the destination.

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So here we see a publisher, py and a subscriber py file.

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These are copies of the scripts we created when we ran cocaine build.

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And these are the files that get referenced when we use the ROS to run command.

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So why does this matter?

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Well, because if we make any changes to our scripts, for example, let's go over to our publisher

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file.

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And we'll change the print statement to say new publisher and node running If I make changes and I hit

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control SE.

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We can go over to a terminal.

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Source our workspace.

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And use the RAR to run command like we did in the last lecture.

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So notice here it says publisher node running, but we obviously changed it to new publisher node running.

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Well, that's because, as I said, it's referencing this file which was copied when we ran Coal can

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Build.

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So this file only says publisher Node running.

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The changes didn't take effect here.

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So this can be kind of annoying because that means we need to recompile our whole package just to address

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that one little change we made to our script.

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So let's go ahead and compile our package in a different way so we don't have to worry about this.

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So I'm going to go ahead and start with a clean slate workspace.

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So I'm going to delete my build, install and log folders.

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So now I only have the source folder which contains my packages.

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Now I'm going to go back to my terminal.

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I'll stop this Publisher note.

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Clear the screen.

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And if you actually notice, if I were to try and run that command, it says Rescue package not found.

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That's because I actually deleted the files where everything was held, even though our source folder

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is still intact.

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But if I go over to my workspace directory, we can run the call, can build command.

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But this time we're going to specify a special option by doing dash dash Simulink install and you can

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use tab completion here.

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So what Simulink install is going to do is whenever there are files that are copied over, instead of

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creating a brand new version of that file, it's going to make a link to that existing file instead.

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So let's just go ahead and see what this does.

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So again, we get our depreciation warnings from our setup tools, depreciation warning from our IP

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package.

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For now, we're just going to go ahead and ignore that.

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And now if I go into my install directory, as you can see, our build, install and log directory,

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we're regenerated since we reran colon build.

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But now if I go into our package.

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We see these arrows.

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And so this means that this is a linked file.

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So if I go ahead and open this with the text editor, it says new publisher node running.

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And if I go ahead and make more changes, so I'm going to say new new publisher, node running, I know

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that's not original, but just to show the difference.

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Now, if I reopen this file again, we see the changes immediately took effect.

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So here we see that new new publisher note is running.

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So this is super helpful in the sense that we can make changes to our source code and it'll immediately

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take effect into our workspace without having to recompile.

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I can also prove this by opening a terminal at this location and we can use the read link command.

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So in this case, I'll do read Link publisher PI.

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And here we see it is pointing to our source folder.

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Now, we will still need to run and build regardless if we create new files.

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And it can be easy to forget that dash dash Simulink install like when running call can build.

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So let's go ahead and set up our VS code editor to remember.

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For us to do this, we're going to head over to our Visual Studio code editor and add some contents

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into this dot vs code folder you see here.

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So I'm going to go ahead and right click on it hit new file and I'm going to create a tasks dot JSON

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file and oops, I accidentally put a comma there instead of a period.

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There we go, tasks, JSON, and now we're going to set up our tasks.

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Here.

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You can find more information on Vsco codes, documentation page on task, but for now, let's go ahead

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and jump right into it.

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So here all I'm doing is mapping the coal can build Simulink install command to the build labeled task

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in VTS code, and we specified that these commands run in the shell.

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Notice that I source my ROS installation before building.

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That is because by default the VZ code shell does not source our bash, our c file in our home directory

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like our normal terminal does.

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So we have to manually specify the source of the Ross installation.

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Or alternatively, you can change this to source your bash or C file if you want it to.

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Then I use two ampersand symbols which specify to run the next command if the first one is successful.

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So with that, I'll go ahead and save this file.

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And now instead of having to run colon build from terminal, every time we want to make changes, we

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can instead head over to terminal and run build task.

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So this opens a terminal here at the bottom.

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And as you can see, it compiled using the code that we just specified.

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So it went ahead and source our Ross Humble set up bash file and then ran colon build Simulink install

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where we see our code got compiled.

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Then from here I can simply hit spacebar to close the terminal.

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But all the changes have taken into effect and I can actually prove this really quickly by going ahead.

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And deleting the build, install and log folders one more time.

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And I will run that terminal run build task.

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And we see they all get created again.

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Now, for the time being, since we're not using that my PIP package.

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And that was only for the example back in the Configuring Packages lecture.

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I'm going to go ahead and delete this package for now just so that we stop getting that depreciation

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warning from the.

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The package resources, depreciation warnings.

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Due to the setup copy files being depreciated.

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And because we're not really using that package anyway throughout this course.

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So since I made those changes, I should actually recompile one more time.

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But now we see it's super easy.

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We don't have to remember any commands.

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Simply head over to this run, build task or use the control shift to be shortcut and any changes we've

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made to our packages we'll get compiled in.

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All right.

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And there's one more thing I need to show you to make sure that all of this works as intended.

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So if I head over to my terminal and I go over and change into my scripts directory, if I hit ls.

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Notice that my Python scripts are in this white text.

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Now this means that it's just a normal file with read write privileges.

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Now we're actually using these files as executables, right?

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We are executing these Python scripts to run our ROS code.

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So the one bad thing about sym linking our files is we need to make sure that they are executable as

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is because code can build actually used to take care of that for us.

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And I can show this by trying to source our workspace and trying to list our executables.

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So now if we run our ROS to package executables.

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The name of our package.

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Notice no executables get listed, and if I try to run one of our nodes, say our publisher node, it

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says no executable found.

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So the reason why this is happening is because our linked file is not configured as an executable.

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So the way we go about changing this in UNIX is by using the Mod command, which changes the permissions

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of a particular file.

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So for example, if I wanted to change the permissions of my publisher node to be an executable, I

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could do c h mod plus X in the name of the file, which in this case is publisher py.

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Now if I hit LS.

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Notice it's in this green text now which is symbolizing that this is an executable file.

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And if I rerun that ROS to package executables lists, we see our publisher PY is now considered an

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executable while our subscribers py is still not so you need to be sure that all of your source files

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are considered as executables so we can actually go ahead and automate this in our test JSON file to

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make sure it does that for us so that any python files that are within our packages get set to be executable.

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You can feel free to change this if that's not a desired behavior, but for the most part, most people

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won't have an issue with setting their Python scripts to be executable.

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So I can do this by adding another set of double and percent symbols.

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So after we finish building, let's make sure we look for all of our Python files and set them to be

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executable.

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And we can do that with the following command.

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So I know this is a bit of a complex command, but essentially we're running the find command in our

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directory and we're looking for the whole name within our source directory, any Python files.

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So any python files within the packages within our source directory, we'll then execute the command

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plus x command, which we ran earlier in our terminal so we can go ahead and save this and we can go

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ahead and rebuild our workspace.

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I'll go ahead and hit Control shift B to run the build task.

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And we see that's running this whole command for us.

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And now if I go over to terminal, I can go ahead and run.

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LZ And now we see that all of my Python scripts are now green, meaning they are all executable.

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And if I run Ros to package executables and Ros do package again, we see both the publisher and subscriber

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node.

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All right.

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With that, we've successfully configured our Visual Studio workspace to automatically source our Ros

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Humble installation run code can build with Simulink install so that any changes we make to our scripts

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will automatically take effect in the ROS Terminal command line interface and make sure that any python

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files we have within our workspace are marked as executable.

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So all this is done at the click of a button and we no longer have to worry about it.