Valkyrie Source Code

There are a few different ways to obtain the source code for Valkyrie, and some of the related tools.

Get code from Github, using ssh

###Pre-requisites: You must have a registered ssh key with github. Check here for help setting that up. If this is your first time using an ssh-key with github, make to do Step 5: Test the Connection. Otherwise, vcstool might fail when trying to import the code.

You will also need vcstool. To install,

sudo apt-get install python-vcstool

Setup

Open a terminal and set your Github username as an environment variable. It will make the rest of the instructions easier.

export GITHUB_USER=<user>

NOTE: replace <user> with your Github user name.

Create and init a catkin workspace

mkdir -p ~/val_indigo/src && cd ~/val_indigo/src
catkin_init_workspace

Download the workspace file and import the code using vcs-tool. Be sure to enter each line separately. You will be prompted for your Github password.

curl -u $GITHUB_USER -H "Accept: application/vnd.github.raw" "https://api.github.com/repos/NASA-JSC-Robotics/val_workspaces/contents/public_full_workspace.yaml?ref=develop" > workspace.yaml

vcs import --input workspace.yaml

Get code from Github, using HTTPS

When on-site at JSC, you cannot access Github via ssh. Instead, you need to use https://

Open a terminal and set your Github username as an environment variable. It will make the rest of the instructions easier.

export GITHUB_USER=<user>

NOTE: replace <user> with your Github user name.

Create and init a catkin workspace

mkdir -p ~/val_github_ws/src && cd ~/val_github_ws/src
catkin_init_workspace

Download the workspace file, the install helper, and import the code. Be sure to enter each line separately. You will be prompted for your Github password

curl -u $GITHUB_USER -H "Accept: application/vnd.github.raw" "https://api.github.com/repos/NASA-JSC-Robotics/val_workspaces/contents/public_https_full_workspace.yaml?ref=develop" > workspace.yaml

curl -u $GITHUB_USER -H "Accept: application/vnd.github.raw" "https://api.github.com/repos/NASA-JSC-Robotics/val_workspaces/contents/workspace_checkout?ref=develop" > workspace_checkout

python workspace_checkout workspace.yaml

NOTE: One big downside to this approach is that the vcstool does not handle multiple repo authentication very well. Subsequent calls like vcs pull causes a bit of a mess on the console.

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Final Steps

Run the following line to ensure all dependencies have been resolved.

cd ~/val_indigo
vcs custom --args checkout develop
rosdep install --from-paths src -i -y