> For the complete documentation index, see [llms.txt](https://german-m-garcia.gitbook.io/mk-ros/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://german-m-garcia.gitbook.io/mk-ros/software/ros-workspace.md).

# 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](https://raw.githubusercontent.com/german-m-garcia/mk-ros/master/onboard/.rosinstall) 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
```