Best location for ROS packages, sourcing ROS in .bashrc

mjohannessen

After a hard reset of rae and connecting to RH via the QR code, it looks like a number of containers are added to the rae:

/data/persistent/home/robothub/containers/
/data/persistent/home/robothub/data/sources/

which are duplicated in

/home/robothub/containers/
/home/robothub/data/sources/

I have not been able to get RH to work for me for app development so I'm going the local route using VSCode.

To add ROS packages e.g via git clone, where should those be located?

To source ROS, it looks like the containers installed by connecting to RH include ROS2 humble:

/data/persistent/home/robothub/containers/overlay/2e309…/diff/opt/ros/humble/src

duplicated in

/home/robothub/containers/overlay/2e309…/diff/opt/ros/humble/src

What is the best way to source the base ROS install? Generally that's by doing something like

% source /opt/ros/humble/install/setup.bash.

Do I includes the full path including the container, and if so - which container - /home or /data? Neither colcon or ros are in $PATH by default.

And to set ROS_DOMAIN_ID - would that be set in /data/persistent/home/root/.bashrc?

Is this all best handled via a new docker container?

jakaskerl

@Luxonis-Adam

Luxonis-Adam

Hi, a good starting point is the rae-ros repository, which describes the steps to set up the environment. In short, the best way to develop on RAE is to use Docker container as then you can install anything you like.