Scan-N-Plan workshop is built on ROS2. First follow the instructions for installing ROS2.

Build Setup

First, create a colcon workspace (henceforth referred to as <snp_workspace>) and clone this repository into it. Navigate into the root of the workspace.

cd <snp_workspace>

Install the source dependencies using vcs.

vcs import --shallow --debug src < src/scan_n_plan_workshop/dependencies_tesseract.repos

vcs import --shallow --debug src < src/scan_n_plan_workshop/dependencies.repos

Install the distributed dependencies using rosdep.

source /opt/ros/<distro>/setup.bash

rosdep install --from-paths src -iry

Note: Some rosdep dependencies specified by tesseract may be not resolved, but it is generally okay to ignore these if building with the command specified below.

Build

Build the repository with the following command (including a few CMake arguments to ignore modules of tesseract that are not needed)

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF