Preparation

Setup of ROS and Choreonoid Related Packages

To carry out this tutorial, you must first complete Installing ROS and Building Choreonoid-related Packages. Please follow the procedures on these pages to install and build, and confirm that you can execute Running Choreonoid in the ROS Environment.

Note that Adding Package Sources does not need to be executed. (Of course, there is no particular problem if it is already installed.)

Downloading and Building cnoid_tank_pkgs

In this tutorial, the path to the catkin workspace is denoted as “<catkin_ws>”, so please replace it accordingly. Note that the workspace name itself doesn’t have to be “catkin_ws” (for example, “choreonoid_ws” is fine). We recommend using separate workspaces for each project.

First, download (git clone) the “cnoid_tank_pkgs” repository under the catkin workspace:

mkdir -p <catkin_ws>/src
cd <catkin_ws>/src
git clone https://github.com/choreonoid/cnoid_tank_pkgs.git

Once completed, download the dependency packages. Here, we first use wstool to download the dependency packages:

cd <catkin_ws>
wstool init src
wstool merge -t src src/cnoid_tank_pkgs/melodic.rosinstall
wstool up -t src

At this point, the dependency packages will be automatically downloaded under the “<catkin_ws>/src” directory. Next, download the dependency packages provided as “apt” packages. We use rosdep for this:

cd <catkin_ws>
rosdep update
rosdep install -i -y -r --from-paths src

At this point, the downloading of dependency packages is complete. Finally, let’s build the packages using either catkin_make or catkin tools. Here, we’ll use catkin tools:

cd <catkin_ws>
catkin build

This completes the downloading and building of the packages. Good job!