ROS Workspace OnBoard

We will use wstool and a corresponding .rosinstall file to set up the ROS workspace on the robot. First create a directory for the workspace in your local folder, as well as a directory to store the source code of all packages in our workspace:

$ mkdir ~/ws
$ mkdir ~/ws/src

We can now use the .rosinstall file on the mk-ros github project to set up the ROS workspace:

$ cd ~/ws
$ wstool init src https://raw.githubusercontent.com/german-m-garcia/mk-ros/master/onboard/.rosinstall

The .rosinstall file contains a list of all repositories that will be checked out on the src folder of your workspace. Once you have them you can use catkin to build it:

$ catkin init
$ catkin build

You can also go to each package and compile it individually:

cd ~/ws/src/control/mk_odometry
$ catkin build --this