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Cheatsheet: Terminal

This section provides a cheatsheet with helpful commands for the AIP application.

For more explicit information to the start of the AIP application, please check the AIP_BringUp GitHub Repository and How to start AIP.

I. GitHub

  1. Create SSH Key on PC and store on your device
  2. Clone the GitHub repo with SSH method 
    git clone git@github.com:IRAS-HKA/aip_coordinator.git
  3. Initialize the linked submodules from the GitHub repository 
    git submodule init
  4. Update the initialized submodules (necessary after pushed updates to the sub repositories) 
    git submodule update

II. Docker

  1. Check currently running dockers

    docker ps

  2. Build docker

    source build_docker.sh

  3. Start docker

    source start_docker.sh

  4. Start already running docker (e.g. in further terminals)

    docker exec -it <docker_name> bash

  5. Selective build of the software packages

    colcon build --packages-select <package_name>

III. Miscellaneos

  1. Echo and set the ROS Domain ID

    # check your currently set ROS_DOMAIN_ID  
echo $ROS_DOMAIN_ID

# Set ROS_DOMAIN_ID. If there are multiple robots in use, make sure, that the set ROS_DOMAIN_ID is different on each PC
set Domain ID

# Source workspace
source install/setup.bash

  2. Get the service type from the service (/open_gripper or /close_gripper)

    ros2 service type <service_name>