3. Managing multiple workspaces

Before learning how to manage multiple workspace with RTW be sure that you have set everything up as described in the setting up RTW tutorial.

Also be sure that you have opened a new terminal after you RTW setup to be configured permanently.

Lets setup a new workspace called ws_rolling_ros2_control_demos inside a ~/workspace folder.

rtw workspace create \
   --ws-folder ~/workspace/ws_rolling_ros2c_demos \
   --ros-distro rolling

When asked for confirmation just press <ENTER>. After a workspace is created, open a new terminal and execute rtw ws ws_rolling_ros2c_demos command for sourcing your newly created workspace. Now you can start using RTW aliases, for example directly switch to the root folder of your workspace using rosd. Check other aliases for interaction with the workspace here. Those can be used out of any folder you are in.

Let’s now add a package to your workspace.

  1. Make sure your workspace is sourced by executing rtw ws ws_rolling_ros2c_demos. Then enter the source folder using rosds alias.

  2. Lets clone ros2_control_demos repository for testing using:

git clone git@github.com:ros-controls/ros2_control_demos.git # SSH
# or if no ssh key is setup:
git clone https://github.com/ros-controls/ros2_control_demos.git # HTTPS

  1. Now install dependencies using RTW alias:

rosdepi  # Alias for: rosdep install -y -i -r --from-paths \$ROS_WS/src

Note

if rosdep command fails with a comment that binary packages can not be found by apt, try to update your rosdep index using rosdep update command or even your package index using sudo apt update.

  1. You can then build your workspace using the alias for colcon build:

cb

Everything should now have been built successfully!

  1. Next let’s add another workspace

rtw workspace create \
   --ws-folder ~/workspace/ws_rolling_gz_demos \
   --ros-distro rolling

  1. Now repeat the above steps to add gz_ros2_control repository for testing and execute a demo from there.

Note

if rosdep commands fails with a comment on ros-rolling-ros-gz-sim not being installed successfully, maybe force the desired gazebo version with e.g. export GZ_VERSION=fortress

Important

Now each time you open a new terminal you can use either rtw ws ws_rolling_ros2c_demos or rtw ws ws_rolling_gz_demos to source needed workspace and use the same aliases without constantly thinking about exact workspace/folder you are working in.