1. Setting up RosTeamWorkspace (RTW)

1.1. Installation of RTW

To start using the RTW framework, clone the repository to any location using:

git clone https://github.com/StoglRobotics/ros_team_workspace.git

Next, we install RTW CLI. This is a Python-based CLI that makes it easier to use RTW. It is mainly used in conjunction with ROS 2:

cd ros_team_workspace/rtwcli/  # enter the RTW-CLI folder
pip3 install -r requirements.txt --break-system-packages  # since Ubuntu 24.04 is this flag required as we are not using virtual environment
cd -  # go back to the folder where you cloned the RTW

Then, source the setup.bash` in the top folder of RTW:

source ros_team_workspace/setup.bash

That’s all. You are now all set to use RTW. If you want to add auto-sourcing you can simply execute the following command:

setup-auto-sourcing

This is going to configure the RTW permanently in the sense, that it will always be sourced when you open a new terminal. If you want to revert those changes or prefer to do them by yourself simply follow the next few steps.

1.2. Manual auto-sourcing

Add auto-sourcing of configuration to your .bashrc file by adding the following lines at the end of the file using your favorite text editor (e.g., vim or nano):

if [ -f ~/.ros_team_ws_rc ]; then
    . ~/.ros_team_ws_rc
fi

Copy <PATH TO ros_team_workspace>/templates/.ros_team_ws_rc file to your home folder using

cp <PATH TO ros_team_workspace>/templates/.ros_team_ws_rc ~/

In ~/.ros_team_ws_rc adjust the following values using your favorite text editor:

  • <PATH TO ros_team_workspace> to point to the path to the framework folder

Note

If you have ROS installed at another location than /opt/ros/<ros-distro> , please adjust the ALTERNATIVE_ROS_<ROS-DISTRO>_LOCATION variable in the ~/.ros_team_ws_rc to the according location.

Now you are ready to: