Welcome to RDK S600 Developer Kit repository
3.ROS2 development environment
3. ROS2 IDE Setup
Note: The accompanying reference video uses the ROS Humble version, for reference only
In theory, you can write basic ROS2 programs with just a text editor in ROS2. However, to improve development efficiency, you can install the integrated development environment VSCode.
1. Using VSCode
Search for VSCode in your browser, download the installer for your platform, and install it.
Install commonly used extensions to improve work efficiency.
2. Using Terminal
In ROS2, you need to use the terminal frequently. We recommend a terminal called Terminator. The effect is as follows:
2.1. Installation
sudo apt install terminator2.2. Launch
xxxxxxxxxxPress Ctrl+Alt+T to launch2.3. Terminator Common Shortcuts
Operations within the same tab:
xxxxxxxxxxAlt+Up // Move to the terminal aboveAlt+Down // Move to the terminal belowAlt+Left // Move to the terminal on the leftAlt+Right // Move to the terminal on the rightCtrl+Shift+O // Split terminal horizontallyCtrl+Shift+E // Split terminal verticallyCtrl+Shift+Right // Move split bar right in vertically split terminalCtrl+Shift+Left // Move split bar left in vertically split terminalCtrl+Shift+Up // Move split bar up in horizontally split terminalCtrl+Shift+Down // Move split bar down in horizontally split terminalCtrl+Shift+S // Hide/show scrollbarCtrl+Shift+F // SearchCtrl+Shift+C // Copy selected content to clipboardCtrl+Shift+V // Paste clipboard content hereCtrl+Shift+W // Close current terminalCtrl+Shift+Q // Exit current window, all terminals in this window will be closedCtrl+Shift+X // Maximize current terminalCtrl+Shift+Z // Maximize current terminal and enlarge fontCtrl+Shift+N or Ctrl+Tab // Move to next terminalCtrl+Shift+P or Ctrl+Shift+Tab // Move to previous terminalOperations between tabs:
xxxxxxxxxxF11 // Toggle fullscreenCtrl+Shift+T // Open a new tabCtrl+PageDown // Move to next tabCtrl+PageUp // Move to previous tabCtrl+Shift+PageDown // Swap current tab with the next tabCtrl+Shift+PageUp // Swap current tab with the previous tabCtrl+Plus (+) // Increase font sizeCtrl+Minus (-) // Decrease font sizeCtrl+Zero (0) // Reset font to original sizeCtrl+Shift+R // Reset terminal stateCtrl+Shift+G // Reset terminal state and clear screenSuper+g // Bind all terminals so input goes to all terminalsSuper+Shift+G // UnbindSuper+t // Bind all terminals in current tab, input to one terminal auto-copies to othersSuper+Shift+T // Unbind current tabCtrl+Shift+I // Open a new window using the same process as the original windowSuper+i // Open a new window using a different process from the original window
3. Using Git
3.1. Installation
In daily work, since it's team collaboration involving version control, Git is an essential skill. Git is a free and open-source distributed version control system. Install Git on Ubuntu:
xxxxxxxxxxsudo apt install git3.2. Git Basic Operations
Git's job is to create and save snapshots of your project and compare them with subsequent snapshots.
This chapter introduces commands for creating and committing project snapshots.
The six most commonly used Git commands are: git clone, git push, git add, git commit, git checkout, and git pull. We will cover them in detail later.
Explanation:
workspace: Working directory
staging area: Staging area / cache area
local repository: Version repository or local repository
remote repository: Remote repository
A simple operation sequence:
xxxxxxxxxx$ git init$ git add .$ git commitgit init - Initialize a repository.
git add . - Add files to the staging area.
git commit - Add staged content to the repository.
3.2.1. Create Repository Commands
The table below lists Git commands for creating repositories:
| Command | Description< |
|---|