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Updated for 2025 authored by Tommy Persson's avatar Tommy Persson
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lab1.md
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......@@ -13,11 +13,15 @@ Running
**On Campus**
ROS is already installed on IDA computers, you can find it in the directories ```/opt/ros/galactic```, ```/usr``` and ```/courses/TDDE05/software```.
On IDA computers we use an apptainer sif file where all needed
software is installed. In the apptainer ROS can be found at
/opt/ros/humble.
**Personal Computer**
**ThinLinc**
Running on personal computers is currently not supported. However, it is possible to use ThinLinc to remotely access IDA's computers.
It is also possible to use ThinLinc to remotely access IDA's computers.
To use ThinLinc, follow the installation instructions at http://www.cendio.com/thinlinc/download and connect to the IDA server: ```thinlinc.edu.liu.se```.
ROS
......@@ -53,31 +57,29 @@ Setup the environment
### First, you will need to add the following to your ```.bashrc``` file:
```bash
alias tdde05-start=". /courses/TDDE05/software/bin/tdde05-start.sh"
if [ -f /courses/TDDE05/software/bin/tdde05-setup.sh ]; then
source /courses/TDDE05/software/bin/tdde05-setup.sh
fi
```
To edit your ```.bashrc``` file, you can use the following command in a terminal:
To edit your ```.bashrc``` file, you can use the any editor like:
```bash
kate ~/.bashrc
code ~/.bashrc
```
### You need to set your ROS Domain id
To avoid conflict with other ROS2 users, you need to set a unique ROS Domain id. You can do it using the following commands:
or
```bash
mkdir -p $HOME/TDDE05
kate $HOME/TDDE05/.domain_id
nano ~/.bashrc
```
In the `.domain_id` file set your group number. For example, if you are in group 12, the file should contain ``12``.
### ROS Domain id
### Every time you open a new terminal, before issuing a ROS command, you will need to run:
Since ROS is running inside a container and ROS_LOCALHOST_ONLY is set
to 1 there is no risk for conflicts with different users using the
same ROS_DOMAIN_ID. So just using the default value is OK.
```bash
tdde05-start
```
Starting the simulator
-------------------
......