ROS Configuration Repo

General

This is the main software repository of the DRIVE 🏎 Project from TUM Phoenix Robotics. It is meant to assemble all software modules in an easy way to create a modular and consistent system. It uses git submodules (see more infos below) to compose the complete system from various (sub)modules. To keep the whole system consistent, we use an automated Travis build check pipeline.

Some conventions

For this "config repo" we use feature branches for development and prohibit pushes to the master branch. Use pull requests for each feature branch. Submodules may use their own conventions.

File structure

This respository includes

• ROS .launch files in launch folder
• ROS packages as Git submodules in modules folder

The folder structure should look like:

catkin_ws/src/drive_ros_config
                     /launch
                         <launch file A>
                         <launch file B>
                         ...
                     /modules
                         <submodule 1>
                         <submodule 2>
                         ...

More infos on Git submodules

Git submodules can be confusing at first. However, they are a very handy tool to assembles on overall system from different modules in different ways.

Some ressources on Git submodules

• Short Tutorial Video
• Offical Git submodule documentation

Some tips

add git submodule

After adding the submodule, don't forget to init and update:

cd catkin_ws/src/drive_ros_config/modules
git submodule add --force <some repo>
git submodule update --init --recursive

checkout different branch in root config repo

To change a branch in config repo, don't forget to deinit submodules first:

cd catkin_ws/src/drive_ros_config/
git submodule deinit .
git checkout <branch>
git submodule update --init --recursive

don't use git submodules

Still not convinced that submodules are cool? Then just don't use this repo and clone all repos manually into your workspace. You can just do everything how you would normally do it. Pull, change, commit and push to each repositoriy separately. However, then it is your responsiblity to keep everything up to date on your system and consistency to other modules may not be guaranteed.