Installation

1. Install ROS packages
2. QtCreator
3. Atom
4. ChatGPT from terminal
5. Troubleshooting with Sharework cell
6. Useful stuff
7. Guides and tutorials

Installation of the JRL-CARI Workspace can be done in a single workspace or a multiple workspaces. The second saves you times during compilation.

Installation on a single workspace

see here

Installation on multiple (overlayed) workspaces

see here

Install QtCreator

see here

Configure QtCreator

see here

Configure Atom

see here

ChatGPT from terminal

see here

Troubleshooting with Sharework cell

Cannot connect to the UR10e robot:

1. can you ping the robot (ping 192.168.10.1)?
2. if yes, can you login to the robot (ssh root@192.168.10.1 pwd:easybot)?
3. if yes, did you open the firewall ports? sudo ufw allow 50001/tcp AND sudo ufw allow 50002/tcp

Useful stuff

Catkin commands

• clean all the deleted packages

catkin clean --orphans

Optimization flags

In the CMAKE File add these flags

add_compile_options(-std=c++14 -funroll-loops -Ofast)
set(CMAKE_BUILD_TYPE Release)

see here for more info.

Debug commands

• disable thread message in gdb:

nano ~/.gdbinit
set print thread-events off

Colored ROS_INFO_STREAM

Copy the code from these files .cpp, .h to define colored ROS_INFO_STREAM

Git commands

see here

Bash tips

Copy these commands into your .bashrc file:

• see git branch name next to the path in the terminal. It also show the status of the branch (unstaged files, sync with remote), see here for details

force_color_prompt=yes
color_prompt=yes
parse_git_branch() {
 git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/(\1)/'
}
GIT_PS1_DESCRIBE_STYLE='contains'
GIT_PS1_SHOWCOLORHINTS='y'
GIT_PS1_SHOWDIRTYSTATE='y'
GIT_PS1_SHOWSTASHSTATE='y'
GIT_PS1_SHOWUNTRACKEDFILES='y'
GIT_PS1_SHOWUPSTREAM='auto'
if [ "$color_prompt" = yes ]; then
 PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[01;31m\]$(__git_ps1)\[\033[00m\]\$ '
else
 PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w$(parse_git_branch)\$ '
fi
unset color_prompt force_color_prompt

• automatic ls after cd or roscd

function cd {
    builtin cd "$@" && ls -F
    }

How to write a README.md

README files are Markdown files. Take a look at this cheatsheet for Markdown commands.

Modern text editors like Sublime Text and VScode allows you to preview Markdown files locally. see here

Ubuntu appearance

If you want your dock to look like this:

Place this in the terminal:

gsettings set org.gnome.shell.extensions.dash-to-dock extend-height false
gsettings set org.gnome.shell.extensions.dash-to-dock dock-position BOTTOM
gsettings set org.gnome.shell.extensions.dash-to-dock transparency-mode FIXED
gsettings set org.gnome.shell.extensions.dash-to-dock dash-max-icon-size 64
gsettings set org.gnome.shell.extensions.dash-to-dock unity-backlit-items true
gsettings set org.gnome.shell.extensions.dash-to-dock show-apps-at-top true

Ubuntu bug fix

• Disable "Use hardware acceleration when available" if Google Chrome won't open and freeze your PC.

GUIDES AND TUTORIAL

Modern CMake [guide]((https://gist.github.com/mbinna/c61dbb39bca0e4fb7d1f73b0d66a4fd1) example