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--- tutorials:general [2022-03-22 10:41] – Johan Oxenstierna
+++ tutorials:general [2022-09-02 16:04] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+====== Tutorials on ROS/SkiROS ======
 skiros2_examples give some basic introduction to SkiROS (https://github.com/rvmi/skiros2_examples). Clone into catkin_ws
 /src
@@ Line 11: / Line 14: @@
 For ROS beginners there are many highly pedagogic tutorials at https://www.theconstructsim.com/. For example, they have a
  whole course on navigation/localization.
+====Some bashrc tips for heron_workspace_setup====
+===Pimp history===
+Add this to your ''.bashrc'':
+''
+export HISTTIMEFORMAT="%h %d %H:%M:%S " \\
+export HISTSIZE=10000 \\
+export HISTFILESIZE=10000 \\
+export HISTIGNORE="ls:ps:history" \\
+shopt -s histappend \\
+PROMPT_COMMAND="history -a;$PROMPT_COMMAND" \\
+''
+===ROS Configuration===
+Add this to your ''.bashrc'':
+''
+export ROS_WS=~/Workspaces/heron_ws \\
+source $ROS_WS/devel/setup.bash \\
+alias src='cd $ROS_WS/src' \\
+export CURRENT_CMAKE_BUILD_DIR="$(catkin locate --workspace $ROS_WS --build)" \\
+\\
+function print_ros_variables () { \\
+        echo "ROS_MASTER_URI: " $ROS_MASTER_URI \\
+        echo "ROS_HOSTNAME: " $ROS_HOSTNAME \\
+        echo "ROS_IP: " $ROS_IP \\
+        echo "ROS Workspace: " $ROS_WS \\
+        echo "rosinstall file: " `test -f $ROS_WS/src/.rosinstall.conf && cat $ROS_WS/src/.rosinstall.conf` \\
+} \\
+print_ros_variables \\
+''
+===Configure Master Way 1 - Static===
+Add this to your ''.bashrc '':
+''export ROS_IP=192.168.100.5 \\
+export ROS_MASTER_URI='[[http://$ROS_IP:11311]]' \\
+''
+===Configure Master Way 2 - Flexible ===
+Add this to your ''.bashrc'':
+''
+alias ros_master_local="export ROS_MASTER_URI='http://127.0.0.1:11311' && export ROS_IP='127.0.0.1' && unset ROS_HOSTNAME && \\ print_ros_variables" \\
+alias ros_master_remote="export ROS_MASTER_URI='http://192.168.100.5:11311' && export ROS_IP='192.168.100.10' && unset ROS_HOSTNAME && print_ros_variables" \\
+ros_master_local \\
+''
+===Resource .bashrc===
+Add this to your ''.bashrc'':
+''
+alias resource="source ~/.bashrc"
+''
+===Automatically open a tmux session when connecting through ssh===
+Add this to your ''.bashrc'':
+''
+if [[ -z "$TMUX" ]] && [ "$SSH_CONNECTION" != "" ]; then  \\
+    tmux attach-session -t ssh_tmux || tmux new-session -s ssh_tmux \\
+fi  \\
+''
+===Add SSH keys to a keyring for multiple shells===
+This frees you from typing the password of your ssh key every time.
+Install the `keychain` package.
+''
+eval `keychain --agents ssh --timeout 60 --eval id_rsa`
+''
+====== ROS Best Practices ======
+* [ROS Best Practice Collection](https://github.com/leggedrobotics/ros_best_practices/wiki)