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useful_commands.md

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Building and Testing:

colcon build

Invokes the build tool colcon, which calls the CMake build system files in each package (a.k.a. directory). CMake does build magic™ that automatically finds and installs necessary packages so your code is ready to run. ONLY RUN THIS COMMAND IN /colcon-urc!

If you get errors from CMake or XML —> build errors Solution: Make sure all dependencies are installed

If you get errors from #include statements —> linker errors Solution: Make sure to include and bind any necessary packages in CMake/XML

If you get errors from .cpp/.hpp/.py files —> compile-time errors Solution: Check for typos and incorrect method usage

colcon build --packages-select <name of package>

Builds a specific package

colcon test

Runs tests on all built packages

colcon test-result --verbose

Outputs a detailed log of everything that happened during testing to your terminal

colcon build && colcon test && colcon test-result --verbose

Builds, tests, and shows you the results of all tests. Use this for day to day ROS2 development!

Launching the Simulation:

. install/setup.bash

Adds all required elements to your path, always run before launching anything

ros2 launch <directory with launch file> <python launch file>

Activates a launch file, boots up gazebo and the simulation

ros2 topic list

Returns all active topics

ros2 topic echo <topic name>

Shows what is being published to a given topic

rosdep update && rosdep install --from-paths src --ignore-src -r -y

Initializes all rosdep packages, enabling CMake to integrate and use them

sudo apt-get install ros-humble-<package name>

Use this to install a specific rosdep package missing from the CMake

Git Commands:

git push

Pushes your changes to your branch.

I’d highly recommend using built-in Git integrations in your text editor of choice instead, but this is always an option for the Vim/Emacs chads out there.

git pull

Get the newest version of your branch.

You can use the flag --recursive-submodules if you’d like to update submodule content as well, since by default github ignores submodules with any commands you enter.

git commit -m “<Message describing your commit>”

Creates a snapshot of the changes you’ve made to the repo before you push. The -m flag allows you to include a message describing what the commit does. Do this before you push.

git add <filename>

Adds a file you changed to the staging area. You can also do git add . to stage all of the files from the current directory that you changed. This needs to be done before you do git commit.

git fetch

Dowloads commits, files, and references from a remote repository into your local repository.

If you’re unable to checkout to a new branch or having issues with the remote repository in general, try using this command.

git stash

Use to save your progress on a given branch before swapping

git stash pop

Use to restore previously stashed progress

git branch

See all local branches

git branch -r

See all remote branches

git checkout <name of branch>

Swap to a specific branch

git submodule sync

Updates submodule metadata (the URL you linked in .gitmodules)

git submodule update --init

Initializes and pulls any changes for every submodule. Use this if you are missing a specific submodule package during build!

Linting/Formatting:

ament_uncrustify --reformat

Automatically reformats all .cpp and .hpp files to ensure they match the rules laid out by ament_code_style.cfg

ament_<use tab complete to see all the options>

All the various linters called when colcon test runs