From b919450998c5046ac21f870872c5844252be1092 Mon Sep 17 00:00:00 2001 From: Norbert Schulz Date: Tue, 24 Sep 2024 14:15:09 +0200 Subject: [PATCH] Improved help regarding linking of micro-ROS library --- README.md | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index f943fba..02e81ed 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # ros2_dcs_turtlesim This project is a ROS2 Package wrapper for the TurtleSim demo with -DroidControlShip and RadonUlzer robots under Webots. +DroidControlShip (DCS) and RadonUlzer (RU) robots under Webots. ![ZumoTurtle](ZumoTurtle.jpg) @@ -33,11 +33,16 @@ packages: cd DroidControlShip git checkout feature/ROS2 +* Link the micro-ROS library to the lib folder of DCS + + cd DroidControlShip/lib + ln -s ~/microros_ws/firmware/build libmicroros + Add the following environment variables which tell `ros2_dcs_turtlesim` where the PlatformIO based projects are: - $ export DCS_HOME= - $ export RU_HOME= + export DCS_HOME= + export RU_HOME= ## Building @@ -52,6 +57,9 @@ build only this package (and in verbose mode) use: colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_VERBOSE_MAKEFILE=ON --packages-select ros2_dcs_turtlesim source install/local_setup.bash +> [!NOTE] +> If you get error ```fatal error: rcl/rcl.h: No such file or directory```, you forgot to link the micro-ROS library into +> the DCS workspace. ## Launching