Welcome to the ROS introduction course
my name is Péter Fankhauser
we're here with Professor Marco Hutter,
Martin Wermelinger and Dominic Jud.
We'll guide you through the next five courses through
programming for robotics especially
with C++. This is the
overview of five days in the beginning
will start with some of the rough stages
throughout architecture in the second
tour of course we're going to talk about
how you create your own programs in your
home Russell and of course three and
four are additional tools and elements
of frosted to our useful when you work
with ROS and on the last day will have
one case study from our group in our
reviews rather extensively i'm going to
show you what we do with drawers and how
far we can go when you use the wrong
today of course load coming through the
part 1 the course one this is important
for the overview here now on day one
will always have one introductory
lecture and 10 introduction to the
exercise will have to remainder of the
time to solve the exercise and then
during this exercise once you're done
something more easy for more difficult
once you're done you can raise your
hands or come up here and show the
results important that are each of you
shows us the results of such as we can
grade it
the deadline is always dish the
following course early in the morning
before the lecture so today we'll have
to let the one that size introduction to
solve exercise one each exercise has
several check questions you see in the
bottom and that those are the ones are
going to go through when we create we
have five exercises each of them count
twenty percent we encourage teamwork but
all of you have to show the results
either on the personal laptop or one of
the pcs in the back to us individually
like I said exercises are checked by
teaching assistants or two latest the
following court in the morning which
means in the morning
8 15 to 8 45 life at the time where you
can
come by and show the exercise come early
become acute starting the lecture time
on time
this is except for exercise 5 where you
have to show it at the very end of the
course because that's a shorter one
that's where the course will things let
us know once you're done so we can check
you gradually so not everybody comes in
five minutes before the lecture starts
an important for dogs we've already
given us shown us that the exercise the
lecture the theoretical part will start
age 45 so you can show HD into a 45 and
for those are shown it come here at a
solution but the best if you show it
during the morning session for the easy
one shared your hand and we can check on
you and then you can actually ok so in
course one will talk about the rest of
the feed the architectures go through
the important concepts like to broadcast
across notes and topics are you learn
how to use your console how to do basic
command analogous of what's running on
your pc we talked about how you build
you know if your system with the captain
workspace and then the exercise will be
using large files and video simulation
what Ross Ross 10 for the robot
operating system it's not actually
operating system like the ones you have
installed Windows Mac presume too much
more middleware that lifts between the
actual operating system and programs
that you write it has four different
elements one of the plumbing which means
that you have multiple programs running
and draws the name of you is programmed
to communicate between each other
also it provides a bunch of device
drivers like to usually communicate with
your hard-won second part is there's
many basic tools which are importantly
when you work with robots being it
simulations visualizations are graphical
user interface that you can adapt or
basic tools like data logging
so all these tools were written one you
can reuse them to facilitate to work and
work with robot with a bunch of
capabilities in Ralph's making it for
control planning perception mapping
tetra many people provided is that
consisted of Ross so you can make use of
existing tools so if you're an expert in
planning you don't have to write your
mapping addressing yourself to take some
of the shelf and develop your own your
specific specific area of expertise
lastly rather pick ecosystem the
software is organized in packages such
as you can easily install and use them
and Ross device entire software
distribution and there's many many
tutorials and you're going to work with
telephone online available documentation
for this course from many work with the
plumbing tools and ecosystem the
capabilities those other things are
going to die more deeply r during the
semester work or other work we go
towards the algorithms we provide here
to basics for all sorts of tools into
the inter process communication look
into the history of Ross it was
developed 2007-10 for artificial
intelligence laboratory and tell you
what managed 51 / are taking over in 10
games 2013 now managed by the Hopi tours
robotics foundation today Ross is used
by many many robots be some of them in
the videos his rage from universities
are two companies who use this in your
system you it's for research
essentially they standard test common
standard robot programming also there is
pushes the industry to use of
extensively the Philosopher's rathod
that you have many programs on your pc
individual one which communicate over
defined API is being have Ross messages
those messages and services etc and find
how my programs community which is out
with each other
the computer peer communication running
on the system that seems peer-to-peer
can be distributed a multiple pcs which
you have a robot has a computer in your
computer to communicate over violence
and it doesn't matter in which knows
which pcs notes from RCMP API into
communications also not only on your pc
but also why don't you can build up big
interview system with multiple pcs
easily with Ross multilingual means you
can use any visit existing languages
which provides a roth client library
will mainly work with PeopleSoft course
I'm but such as you know here's exist
the library for python that lab in java
and this can be mixed matched its
lightweight in the sense of loss is not
provide all the other than the idea that
you take this thing standalone library
and wrap them with layers such as you
enable existing algorithms to
communicate and work with other tools to
get on your robot finally runs perfect
three and open source so to the very
core you can dive in and check for
things and to find a partner can our to
an issue or actually fixing yourself
into extension of rounds so one
important element that you'll see is the
ross the workplace environment is
defined actually the context on where
you're working in the rules environment
there's this standard when you install
it environments which is under if you
cutting this command slowed the last
version and the environment between
importantly you can / ladies environment
in your PE we already pre-installed one
which we set up the standard folders
catkin workspace and by default we
whenever you open the console we load on
your virtual machine that we provide you
the standard workspaces attacking
environment with this command you can
chest environment
armed with this command and you can also
see how we set up your pc with this
command
in the future if you wanna show your own
pc but this is already set up this is
all only for future reference
one important element is Ross master
from this managers the communication
between your notes so i start up when a
note comes up needs to register register
with your master master make sure that
all the nodes can communicate with each
other you can start to control the
roster which is simply typing in law
score for score has multiple elements
which one of which is the roastmaster it
Ross knows essentially program from your
pc incision single-purpose exceptional
program you can compile them
individually runs and manage them
individually and those are just building
blocks of your program these notes are
organized and packages or whenever we
need a package name
it's essentially the name of the package
containing there you can have multiple
notes you see how here in the example
Ross master each individual knows need
to register with the masters such as
enables communication to run modem
you'll use to turn the exercise type in
ross run then the package name and the
name of your executable once you've done
that you can look at the list of all the
programs that run by typing in ross node
list which lists your other active
awesome if you need further information
specific information about 12 Ross note
because in ross node intro again the
name of the nodes and it spits out are
all information that's note how to know
if you get with children they do it
through Ross topics are so OneNote can
publish and subscribe to topic and
essentially a topic is this stream of
messages that are transferred between
the notes in this example one note
wanted to have registered with Rob
mastered the nose one can tell kate i'm
a publisher's on these this topic and
lost not to subscribe to this topic for
the message flown from the publisher to
the subscriber interests not to make
sure to inform our last connection so
the publisher publishes on a topic name
which is the name arm under which
messages are published and then you can
have not only one but multiple notes
that strive to this information but
typically flows from one known to end
problems to look at the list that you
have by provided by the notes and run
your system you can tighten Ross topic
list situation of all the topics you can
already in the console you can subscribe
to the topic by typing in last topic
echo of printing out information and
then the topic name will subscribe to
stop to control the content on the
console if you need information about
the topic again like the note-taking
rush public info in the topic now I
always provide here
links are to documentation of raster
between trader information just you can
download it from our website from the
slide type of damage will click on it
and he get much more in-depth
information on the specific target now
on these topics notes publish messages
essentially the message find the data
structure of information flows from one
note to the other it essentially it's
from compromised of simple type such as
integers floats William bring the tetra
also raises these options and the can be
nested 21 message can be included in the
other one will see an example in second
if you have a topic you need to know the
type of it can type in Los topic type
and tendon odeon where the top
and if you need to publish on the topic
area future subscriber but you have you
don't have the nokia that publishers
shapes you can publish them the console
with tall with broad topic top
publishing then the topic game then you
type in the text type and then if you
click tap tap is a very important
command you auto complete the rest of
the structure such as you can replace
the argument reason to publish on the
topic from your problem
so in this example we have published
with publishers on the topic to topic
inherently coupled with with a message
definition here's an example of a
message definition which indicates come
from the package geometry messages and
if the tides point message so this is
essentially a text file with the ending
dot msg message and then within the
final easier to read the contents of it
yourself and write your own messages in
this case we have four floats for
float64 doubles are according to explain
them is another example more complicated
from the sensor message topic you it is
an image on the top still have a header
which means our the sequence number at
times them and the frame i do sometimes
it's important if you have geometrical
information to associated with the frame
and then you have arm tight with oval
images and information about encoding of
the image and then add an array the date
of the image chance course you can
choose you can print in the contract but
it's not going to show an image is all
the tools for that that we learn later
this example again have the header so
this is a post message opposes
compromises the position and orientation
and here we have proposed that the
position explains that and the rotation
if you're given a contrarian before
numbers as you can
this message compromise of another
message for the point you find created
position to leave message messages can
be nested into each other making it very
easy to create new ones and building up
another standard now for if people who
are running already it's not very
fundamental but for people who want to
try you can open up the virtual machine
and open up the control so we can go
through some very basic exercise here
together this is not part of the
official exercise tips for trying a
little bit house so you can open a
control on their left hand tight black
box Terminator can learn that you can
create in one of these consoles you can
create multiple views by right-clicking
interests and continue to shape it
horizontally or vertically you can
create multiple tabs and we're going to
use for the window or tab with his
actions and the tab number 12 typing the
raw score sharp corner rough master and
you should see the output like seeing
here on the right time
okay to open a tab number two or split
the window this control we're going to
typing going to run a talker note which
is already a tutorial which is
pre-installed in the system you can type
the roster on starting in ten LCP online
tutorials package men and can talk her
four-day no game once you are running
the snow down the right-hand side or in
your control you see that where noted
running and spitting out
hello world 0 and with increasing them
essentially this node stitch out this
message in the continent
are you going to open control number
three we're going to look at what is
happening right now in your system so
the typing in Russia list you should see
the node which used to start with him
confident mature the rough no list in
the console you should see that you have
here you were talking note that you just
started now if you want to know more
information about the talking about you
can tighten rush node info / target
which is the name of your note and then
you'll see that you have the node talker
which publishes on the topic chatter
with of the type string essentially this
node without on your control this
message but also provide a topic called
flash chatter where the same information
is published it off as we know more
about this topic you can type in Los
topic intro / chatter tushy that is one
publisher the top node here and there's
no subscriber yet so this message is
sent out to nobody
we have started the run scored we opened
up top node and we looked at top to note
the analyzing cannot look now more
closely on through the chapter topic
which your chokers publishing you can do
this by ross topic title and can the
check node Chelsea ok this topic is of
type standard messages strings you can
look at the content now of your of this
topic by typing in Los topic echo flash
challenge which
similar to your console number tool
print you the confidence of his topic
into your console you can see the
message going up to increase number now
there's other commands or just lost
topic HD get hurt which provides you to
frequency which is topic is published
he/she type in rough topic it set flesh
chatter to see that it measures for a
while and can give you the average rate
that would have been the max and
standard deviation how fast are these
messages sent out on the topic now we
have the poconos running its publishing
on his channel topic and now we want to
start up the listener so we know that
subscribe from the topic
yeah you can do this by again in
confident for a new console by ross runs
in raschi p tutorials and can instead of
talker i will use volition
he's not already go i'm going to which
topic that one subscribing tutorial and
then you should see now 12 starts know
that it out says either so we subscribe
to this message and picks out the
contents of which as I heard
hello world some number now to see that
these two notes from now working
together you can go back
leave him running and go back to your
console number three where you analyze
then you can again and come out before
but Ross knows it before we only have
the popular now you'll also see that you
started to listen and you have these two
notes running
you should now have been commanded
before right had been rushed optic info
/ chatter gives you information about
this topic you see now that we have one
publisher the target and now the
newly-created subscriber called listener
these two notes are now connected to the
other topic
now we are going to close to talk note
so we lose eventually the guy who gives
you information by going to come from to
where you started and typing in control
see ya then you should see that they're
listening node stopped publishing
messages and retrieving what we want to
do now everything comes from two or
three publish your own message she got a
little longer command you can type in
ross topic cost of publishing on the
topic / shattered of type standard
messages / strength and if you use a top
button gives you the structure or you
can fill in any message that you want to
publish in this example I filled in a
very close course now she's typing this
command in constant forward lifting
around 50 instead of hello world
it certainly tells you okay this is a
measure message I got that's the one you
published from the conference what you
saw that you can subscribe to topics and
show the confidence in the console also
you can publish messages from the
content now we played around with some
of their control command to talk a
little bit about the roster built
centuries system work when you're right
when you download package you write your
own note how you're going to build your
executable library and the
interpretation standard way of Ross so
far has been the captain may command we
suggest the much better tool the cat
command line tools is already
pre-installed on your system is very
similar to provide nice functionality so
whenever you see
in a tutorial on the web can a command
important the size and khaki hey build
instead of catching on the line make
that can catch the field which is
fundamentally the same thing are but
don't mix these two commands i suggest
you sketching field commands and
commands it kind of that i'm gonna show
you in a second okay so you can
typically when you want to build node
you would have to go through your key
works by CD and then going into your
calculation then you can build a package
by catkin field and then the package
name appears very important part
whenever you build a new package your
system should know about must know about
it or in order for you to use it you
have to resource the console quiero you
control the temperature you can type any
violence and then if you're in this
folder devil folder / setup fashion this
can't again your environment to make
sure that you are you new note that the
system is aware of your you know your
new package now once you build your
khaki workspace you'll see that you're
free full version one of the source
folder of buildin father and the devil
fold the fourth folder is where you put
all your source code information and the
bill shoulder is essentially a cash
before the female folders to make system
and the devil is where it puts the
executables before if you installed
before installing them or for you to use
now these two folders have taken care of
by the cat can build system i put on
information there make sure it run for
you don't typically never touch these to
do all your work in the fourth folder
where your source information store if
you run into troubles one that something
is mixed up to change too many things
and you're not sure you want to build
from scratch
contestant can clean which wipes out the
bills and the devil fold it doesn't
touch the source folder but then you can
rebuild from scratch again there's a
setup associated with your captain
configuration you can look at out by
helping catkin comfort in the virtual
machine that you got you already setup
and if you can catch the conflict
you should see this output one of the
important parts are these he made
arguments we already set himself with
the future reference you can set them by
taskin films gmail cars continue typing
all the oxygen catch you need for
example you should have built-in
debarking release mode if you want to
create the Eclipse project and attention
but there's nothing for you to do right
now just so you know in the future now
we come to a second example and what I'd
like to do is go beyond a typical get up
website and make you download clone a
git repositories is a typical tool that
you'll see when working with software
and then we're going to build this on
your system so you can go on the website
get help come / eks- ASL / Los best
practices we put up there an example
Ross package for you to play around
once your sweats on there is a green
button which is clone or download and
copy this URL then you'll see in your
system that you have a seat fold going
through CD from your home folder you
going to see begin and this is where
we're going to clone now yourself a
cloning me and she downloading software
in a ditch format you can type in and
get blown and copy paste the URL and
control you can pay by control shift the
show instead of control V touch control
shift be you press enter this will clone
all the information from this repository
a few system i have seen that we focus
into the kids folder it's nice to have
multiple workstations future that you
have one main folder where your store
audition when you clone all the software
that's why we put into kids and then
what we're going to do now to work with
it you have to simply get into your
calculations you could also directly
flow into your customers which will
recommend you for the first your kids
and then simply continue attacking a
human kid you will type in LM minus
desecrate symbolically and can tell it
from where to where
so in this case itself in the kit folder
Ross best practices when the link into
your captain source
ok now after sinking you should see you
know catching flesh force a folder loss
that practice folded ok now once your
clone and simulated senior captain
workspace you got your camera and
specialty can work space and can use to
build command we saw before by typing
catkin they build a loss package
template if the package is for the
agency positive if you feel you get here
on the right-hand side is that it builds
fees and charges information along a
trip now to be downloaded we loan the
new repository essentially to source
your work with you to inform the
workspaces you something you you're
talking source and stable set up the
cash this is important step in if you
find yourself some point that your cat
commercials and find your package to
start having this command begin to make
sure that all the information is
up-to-date
now we have cloned repository with built
it and you can start in there we haven't
finished we'll see in a second to last
run
you can do now Ross launched a similar
topic will see the difference you can do
rough lunch and the ross package
template which is their package means
and then Ross package kept plan template
of launch which is the name of the large
files that you to type of thing again
use subcommand make it very quick should
she a raw score starting and tuna
it's a one-note actually starting to say
and successfully launched note if you go
through the agency that you can take
source codes from the internet clone it
build it and run it through all the
necessary steps you need to do to them
yes
ok so what we do is you can have
multiple workspaces so this calculation
we have now only warning system in the
future you see you might have multiple
right so if you work in this class
whatever mrs. know you don't want to
make too many of them I'm sure to click
to keep it clean instead of every time I
want you in the package cloning it into
the captain workspace we recommended to
treat one central kids and folders from
there you can simulate the different
captain workspaces only the warning
protection you're captain movement in
this example if it also as well as to
which is directly in the captain
workspace it wouldn't matter checkin out
in the future
nice to organize the system this way
that's why we shall exist some attempt
it's okay so you download it built
launch software for us now we're showing
the last command that you use Ross
launch launch essentially tool to run
out of typing every time I control
laughs run you can are combined them in
one large file which informs the system
which you know too much information that
we need to load the very convenient tool
to run your system he launched fires and
this is important you're right one
exercise our reckoning
he next my language and are stored in
dot launch also as a side note
not yet running across master somewhere
launch automatically wonders for you can
see community means you can go into
control talking ross launch the launch
of electioneering with boot up
everything that you need to start them
off launch fine but you're ready if you
would type in ross launch and then the
name of the launch line if you already
have a package like we had before you
can in the first case it would need to
be actually where you launch it you'll
have to be at the path you want to
launch launch if you wanna get the
launch file associated with a rock
package you can type in ross launch
package management in the launch file
such as you don't need to be in at this
path of the finest fine before you
automatically if you want to type in
another example you could do like we had
the target policeman before resist the
launch file which launched two together
introduced by ross launch gossipy
tutorials and talk religion of launch
this guy just the same work to get
before start to talk and pollution
together if you look at the listener and
talker
launch fighters to tell you look like
you have the bottom and top you have a
launch xml town and then you see that we
have to line to start to note each note
tagline that defies which Notre on it
has parameters name
this is an arbitrary name that you can
choose to run under which game you want
to run the note and then their key kg
the package main industry 82 recipe
tutorial and tell me which executable
the type and the first one relation will
be a blister type and the second one of
talkers of talking to the output
information
the end tells you on where to put
information that it provides indication
they scream changes printed on the
console but if you want you can also see
log to put in a lot of side if you don't
have access to the conference convenient
tools people very importantly once you
write your own launch files see the
difference between here are closing xml
that with launch and then decide to
close it again and you have self-closing
tags XML tags such as this note to end
is this / and the very end they mean the
same thing but one is supposedly and the
other one can contain elements
ok so whenever you'll see an xml error
make sure that you have the facts
correctly now here's another launch
flight on the right-hand side one of the
nice things you can once you build up a
nice large fries you can we use it in
different environments
this is where the argument had
complained so this example circuit
simulation and has four cards for
argument's ain you simulation time which
weren't using people or not in which
physics engines to you specified among
the top light here and then you can
reuse the argument in your lunchtime so
in this case because if if I want to use
this argument is this argument that you
will fall then also set this parameter
and whenever you so if you specify it up
here you can reuse this argument by the
dollar sign flashed package argument and
the argument name which of these two
examples also down here
one of the nice things is once you've
set up this argument you can launch your
rocket launch file by launch the launch
fine and then
same argument name double points equal
the value you can use the same launched
by the former consul saying once I want
to use the oldies extension for one of
the bullets and you turn on and off
different element very convenient way to
quickly start to certain set up your
note
ok this is all
important element you can next launch
funds so in this example you see that
uses include cat and then the file in
this case we want to include empty words
of launch which launches an empty world
information of another importantly
inroads don't use absolute five paths
that we give you two a friend might have
a different user amateur
so what we always do is related to a
package in this case it's fine then the
package name been here to kiss you
the local absolute path and ten years
would be in the launch folder the
Emperor lock now it's just all the
launch five also need arguments you can
pass them down five tapping into
argument made and then the value in this
case we saw that the name would be for
people to know that the place-name
people begin to value is the argument
that i got from up there so you can pass
down the value of the argument 1 launch
to the other and by including testing
multiple launch files you can create
complex system that you can launch
individually but also all at once
passing down the argument any questions
to the launch you're going to need to
from the exercise make sure
you make the XML structure is valid and
then you're going to use include an
urgent attention
ok now one of the elements that will
play around with because even simulated
it's a 3d simulator for rigid body
dynamics and you can include robots
objects tetra kid
you can also simulate sensors and she
doesn't check himself husky carry a
laser center for example it provides a
3d visualization which is also our
interactive I mean you can have a
toolbar up here where you can drop an
element Duchess barks electric lighting
to see the object that you drop in the
robot and importantly down here you can
start pause your simulation were slowing
down on accelerating the video has the
databases databases many different
robots just posterior was time to throw
about that comes along it off and give
us essentially a standalone program but
it comes with a rock thinking and the
nice thing is in the future if you want
to write so large your own tensors you
can include in cville slugging to run
your keyboard typing + 10 Ron just their
rosters evil intentions could be unknown
which open standard mp40 environment
this is the end of the first picture
there's for you in the future analogy of
and question me rascal but the internet
is full of information the most
important websites believe is the key
across at work where they have
documentation and tutorials on each of
these topics to talk to them mention
there is inflation of tyler frost years
tutorials and you don't want in the
future you don't want to reinvent things
show before you start programming
something make sure that you check out
existence
afterward you can do this on this roster
board / browse websites with all the rod
packages or listen to the raw cheese if
you need but you get very quickly
interesting you know the party comment
and for tomorrow we'll have two more
links that you'll use for in the next
course then we'll have Dominic
explaining you exercise number one first
of all let's take a look at desks shit
so what you see here is that they all
had always to say structure the first of
all you see the theory that just
recovered before then there's an
exercise part and at the very end
there's an evolution so check these
points here you always seated there are
there is the percentage of how much
every point in this simulation count and
every exercise has 100% and there are
five exercises so you can get a most
five hundred percent
yeah so let's start at the top
the goal of this exercise is that you
get to know their office environment by
first inspecting the accumulation of a
husky robot that you've seen before you
can set up the hospital simulation with
the link that you see here there's a
good description of what you have to do
to get a ski running and it's so this
only started husky in gazebo nothing
else
so there's no controller no lasers no I
knew nothing just hockey installation
and play a little bit around with the
rafts nodes and Ross topic commands such
as you can really expect what's going on
Oct topics take a look at what other
notes that operated what is the setup
how do they interact and communicate
then clone the hell up twist keyboard so
as I mentioned before there's no
controller running but we have no you
can be around the house key with the
people and you could install this from
PPA or you can clone it what I what you
have to do is you have to clone it from
get as you did with their off best
practices and then build it from source
if you need a gift cheese then there's
quickly we can press on you to see the
very basic commands to view company and
then your last ask is that you need to
write launch fun have seen before that
XML style file it has to start husky in
the deceiver simulation with a different
world
so in a directory users share bc bo 2.2
as you see here there are some world
toward you can pick the world did you
want for example the RoboCup world then
you get the nice rubber Cup
what did you see in the screenshot here
now all are quickly take you through the
exercise so i already prepared at launch
time now Peter explain for you that you
can start launch filed by not yours
launch the package name and during the
launch fun but it can also go you can
directly stop launched by without the
package me because now you're going to
write the launch time but you don't have
to package it became very can put the
launch fun
right so you can just create launch
anywhere and your pc and so inside boss
launch and then in my case it's an
internal repository so i just got your
Ross launch and down the path and name
the father you said you can also start
the launch files without telling a
package now then it should look better
on your pc and the resolutions pretty
bad but now you feel that it started the
RoboCup world and its people manage you
can start stop the simulation and now i
can write and drive around a ski with my
keyboard so far there for the keyboard
to work you have to click on the
terminal substrate is actually the
window and not diseases so if i click
into gives evil and then press the
keyboard keyboard commands go to
conceive or not the terminal that
support now so this is the ankle that
you have one launch files that launches
people with a different role
plus you're left with keyboard note then
so you can type in all these commands
such as roster list now you see all the
notes running that's the one that you
compared to compile from source so that
helped with keyboard and all the others
are started with the hockey launch file
and there's our cute graph it shows you
all the notes needs and the topics how
they are connected with each other is
heated here there's a telepath with
keyboard know the one that I use for the
keyboard commands it sends a command
velocity that then goes to the people so
that's how our dear house key
now you see the ventilation point here
first of all that setup twist keyboard
nose has to be installed from source and
how you see it is when you type ross CD
set of twists keyboard that it goes into
the folder where the source files are
stored and if you if you would have
installed it with the PPA and just going
to your workspace it goes somewhere into
your city but I can show this year
quickly ross CD in a twist keyboard i
haven't completed from source so now you
see here that there's the system path of
trust in your share
but in your case there has to be your
usernames and Kings workspace source any
depressed okay definitely
it is now they're awesome page there's
there's a wiki page about pretty much
everything that that's been developed
for Ross important is that you on top
here you have different buttons for
different groceries across now we use
across the Indigo not genetic
so we switched for indigo and then
there's some information here about how
to use it how to install it and run it
but we want to install it from source or
completely conserved so we go here to
get older and that's the exact thing
that you've seen before you can clone it
get clone and that's part now I go into
the captain workspace source trade ya
create I trade the symlink now see here
that it's great definitely now it go
back into the captain workspace and
build it cut cane field important after
you first build a package that's always
the note at the bottom defense your
workplace Brooks workspace package has
been changed
you need to resource so it means that
now there's a new package around and it
was now typing broth CD set of twists
keyboard it still goes to my system
folder because i have not forced to
death so it cannot find it when I now
type in source they're holed up in the
catkins source tell ash
so still set up ash and now the same
command again
ross CD and now it goes into kestenberg
space set of twists people so that's the
difference now it takes the program that
i compile from source and not the one
that welcome soul
