Update build instructions (#57)

* export env var in readme * update docs as well * added to dockerfile Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * using .bash and corrected order Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * updated docs Signed-off-by: Dharini Dutia <dharini@openrobotics.org> --------- Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
osrf · Jun 27, 2023 · f424881 · f424881
1 parent 4ee7b21
commit f424881
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Showing 7 changed files with 22 additions and 9 deletions.
diff --git a/README.md b/README.md
@@ -185,7 +185,13 @@ This sources the compiled workspace and launches the simulation:
 1. In a new terminal (whether on host machine or in Docker container), source the workspace
 
    ```
-   . ~/mbari_wec_ws/install/setup.sh
+   . ~/mbari_wec_ws/install/setup.bash
+   ```
+
+1. Set `SDF_PATH` to allow `robot_state_publisher` to parse the robot description from the sdformat model:
+
+   ```
+   export SDF_PATH=$GZ_SIM_RESOURCE_PATH
    ```
 
 1. Launch the simulation

diff --git a/docker/mbari_wec/Dockerfile b/docker/mbari_wec/Dockerfile
@@ -119,12 +119,13 @@ RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
 ENV SETUP_SH /home/$USERNAME/setup.bash
 RUN touch ${SETUP_SH} \
  && chmod 755 ${SETUP_SH} \
- && echo ". ${MBARI_WEC_WS}/install/setup.bash" >> ${SETUP_SH}
+ && echo ". ${MBARI_WEC_WS}/install/setup.bash" >> ${SETUP_SH} \
+ && echo "export SDF_PATH=\$GZ_SIM_RESOURCE_PATH" >> ${SETUP_SH}
 ENV RUN_SH /home/$USERNAME/run_simulation.bash
 RUN touch ${RUN_SH} \
  && chmod 755 ${RUN_SH} \
- && echo ". ${MBARI_WEC_WS}/install/setup.bash" >> ${RUN_SH} \
+ && echo ". ${SETUP_SH}" >> ${RUN_SH} \
  && echo "ros2 launch buoy_gazebo mbari_wec.launch.py" >> ${RUN_SH}
 
 # Start the container at a bash prompt
-ENTRYPOINT ["/bin/bash" , "-c" , "source ${MBARI_WEC_WS}/install/setup.bash && /bin/bash"]
+ENTRYPOINT ["/bin/bash" , "-c", "source ${SETUP_SH} && /bin/bash"]
diff --git a/docs/docs/Tutorials/Install/Install_docker.md b/docs/docs/Tutorials/Install/Install_docker.md
@@ -64,7 +64,7 @@ This sources the compiled workspace and launches the simulation:
 
 1. In a new terminal (whether on host machine or in Docker container), source the workspace
         ```
-        . ~/mbari_wec_ws/install/setup.sh
+        . ~/mbari_wec_ws/install/setup.bash
         ```
 
 1. Launch the simulation

diff --git a/docs/docs/Tutorials/Install/Install_source.md b/docs/docs/Tutorials/Install/Install_source.md
@@ -70,9 +70,15 @@ Use Ubuntu 22.04.
 
 1. In a new terminal, source the workspace
         ```
-        . ~/mbari_wec_ws/install/setup.sh
+        . ~/mbari_wec_ws/install/setup.bash
         ```
 
+1. Set `SDF_PATH` to allow `robot_state_publisher` parse the robot description
+   from the sdformat model (place this in ~/.bashrc for convenience if rebuilding often):
+       ```
+       export SDF_PATH=$GZ_SIM_RESOURCE_PATH
+       ```
+
 1. Launch the simulation
         ```
         ros2 launch buoy_gazebo mbari_wec.launch.py

diff --git a/docs/docs/Tutorials/Simulation/RunSimulator.md b/docs/docs/Tutorials/Simulation/RunSimulator.md
@@ -12,7 +12,7 @@ To run the simulator, it is necessary to source the workspace in a separate term
 
 1. Source the workspace
 ```
-$ . ~/mbari_wec_ws/install/setup.sh
+$ . ~/mbari_wec_ws/install/setup.bash
 ```
 2. Launch the simulation
 ```

diff --git a/docs/docs/Tutorials/Simulation/SimulatorOutputPlotjuggler.md b/docs/docs/Tutorials/Simulation/SimulatorOutputPlotjuggler.md
@@ -6,7 +6,7 @@
 ## Installation and Running
 - To install, see instructions [here](https://index.ros.org/p/plotjuggler/).  If using the supplied docker images, this step is not necessary as the software is already installed.
 
-- To start, issue the following command in a window where the environment has already been sourced using ```$ . ~/mbari_wec_ws/install/setup.sh```:
+- To start, issue the following command in a window where the environment has already been sourced using ```$ . ~/mbari_wec_ws/install/setup.bash```:
 
 ```
 $ ros2 run plotjuggler plotjuggler 

diff --git a/docs/docs/Tutorials/Simulation/SimulatorOutputROS.md b/docs/docs/Tutorials/Simulation/SimulatorOutputROS.md
@@ -1,6 +1,6 @@
 # View ROS 2 Messages
 
-While running, the simulator generates exactly the same ROS 2 messages that the buoy hardware does during operation.  These are grouped into ROS 2 topics that corresponds to data being produced by each micro-controller or instrument on the buoy.  To see all ROS 2 topics being published to on the system, issue the following command (after sourcing the workspace if needed in a new terminal ``` $ . ~/mbari_wec_ws/install/setup.sh```
+While running, the simulator generates exactly the same ROS 2 messages that the buoy hardware does during operation.  These are grouped into ROS 2 topics that corresponds to data being produced by each micro-controller or instrument on the buoy.  To see all ROS 2 topics being published to on the system, issue the following command (after sourcing the workspace if needed in a new terminal ``` $ . ~/mbari_wec_ws/install/setup.bash```
 
 ``` 
 $ ros2 topic list