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James Heselden edited this page Apr 11, 2024 · 9 revisions

There are multiple manners in which the environment_template system can be utilised.

1. Run as ROS2 Pkg 📦

Download

If used within a ROS2 workspace, the repository can be either cloned into the workspace or it can be installed with apt.

GIT Clone

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/
git clone -b {environment_name} https://github.com/LCAS/environment_template.git
colcon build --merge-install --packages-select environment_template

APT install

sudo sh -c 'echo "deb http://lcas.lincoln.ac.uk/ubuntu/main $(lsb_release -sc) main" > /etc/apt/sources.list.d/lcas-latest.list'
sudo apt-get install lcas_environments_{environment_name}

Access

The It is recommended to add a direct source to the environment.sh into your ~/.bashrc file.

The files can then be accessed either through sourcing the environment.sh file, or

1.b.i.

source environment.sh

1.b.ii.

ros2 pkg --prefix share reference

2. Reference through Folder 📂

Download

via Git

  1. Navigate to your desired folder
git clone -b {environment_name} https://github.com/LCAS/environment_template.git

via ZIP

  1. Go to: https://github.com/LCAS/environment_template/tree/{environment_name}
  2. Click on the green <> Code button.
  3. Click on Download ZIP and save to your desired folder.
  4. Navigate to the folder and extract the zipped contents.

Access

via environment.sh

source environment.sh

via filepath

filepath

3. WGet Direct Files 🌐

WGet

This work was supported by AgriFoRwArdS CDT, under the Engineering and Physical Sciences Research Council [EP/S023917/1].

This work was completed in association with the Agri-OpenCore project under Innovate UK grant 10041179.

For citation of the associated workshop publication please use the following bibtex:

@inproceedings{heselden2024unified,
  title={Unified Map Handling for Robotic Systems: Enhancing Interoperability and Efficiency Across Diverse Environments},
  author={James R. Heselden and Gautham P. Das},
  year={2024},
  eprint={2404.13499},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  booktitle={Proceedings of the Workshop on Field Robotics, ICRA 2024},
  address={Yokohama, Japan},
  doi={10.48550/arXiv.2404.13499}
}

For citation of this software repository please use the following bibtex:

@misc{LCASEnvironmentTemplate,
  author = {Heselden, James R. and Das, Gautham P.},
  title = {{Environment Template}},
  howpublished = {\url{https://github.com/LCAS/environment_template}},
  year = {2024},
  note = {Accessed: [access date]}
}
Overview
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How to Use

Upgrading Environment Version

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Dataset Directory

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