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James Heselden edited this page Jan 28, 2025 · 5 revisions

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 --single-branch --depth=1
colcon build --merge-install --packages-select environment_template

APT install (in progress)

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

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

source environment.sh

ROS2

If installed as a ROS2 package, the environment.sh file can be accessed as follows:

# Export Configuration Files
PKG_LIST=$(ros2 pkg list)
SEARCH="environment_template"
if [[ "$PKG_LIST" == *"$SEARCH"* ]]; then
    ROS_ENV_TEMPLATE=$(ros2 pkg prefix environment_template)/share/environment_template
    [ -f $ROS_ENV_TEMPLATE/config/environment.sh ] && source $ROS_ENV_TEMPLATE/config/environment.sh
fi

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]}
}
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