Hardware Reference
In-Depth Information
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
Download the
urdf
component source into the
catkin
workspace (it is part of the
robot_model
component) with a
git
checkout into
catkin_ws/src/
:
$ git clone https://github.com/ros/robot_model.git
Cloning into 'robot_model'...
remote: Counting objects: 4176, done.
remote: Compressing objects: 100% (1715/1715), done.
remote: Total 4176 (delta 2257), reused 4141 (delta 2232)
Receiving objects: 100% (4176/4176), 2.16 MiB | 418 KiB/s, done.
Resolving deltas: 100% (2257/2257), done.
GitHub repositories for fast-moving projects like ROS often support multiple branches
at once, so it is important to make sure you have the correct branch for the version of
ROS you are using. In this case, you are using
groovy
, so you need to change your
robot_model
checkout to reflect the
groovy-devel
code branch:
$ cd robot_model
$ git checkout groovy-devel
Branch groovy-devel set up to track remote branch groovy-devel from origin.
Switched to a new branch 'groovy-devel'
$ cd ..
Manually download the
map_msgs
component in the same method and directory (
cat
kin_ws/src
) as for
urdf
:
$ git clone https://github.com/ethz-asl/map_msgs
Cloning into 'map_msgs'...
remote: Counting objects: 43, done.
remote: Compressing objects: 100% (27/27), done.
remote: Total 43 (delta 12), reused 43 (delta 12)
Unpacking objects: 100% (43/43), done.
Download the next component (
cmake_modules
), needed to build ROS COLLADA sup-
port:
$ git clone https://github.com/ros/cmake_modules
Cloning into 'cmake_modules'...
remote: Counting objects: 125, done.
remote: Compressing objects: 100% (61/61), done.
remote: Total 125 (delta 60), reused 119 (delta 58)
Receiving objects: 100% (125/125), 17.46 KiB, done.
Resolving deltas: 100% (60/60), done.
Download the
interactive_markers
component:
