Developer

Modifying files

Modifying files that do not need to be compiled

There are several file types that can be modified without having to recompile: YAML files: configuration files Launch files: these files orchestrate the launching the nodes and scripts needed to run the demos Julia and Python files: these files contain the scripts needed to accomplish certain tasks

Modifying files that need to be compiled (i.e. C++ files)

You can rebuild the workspace with two methods, where the first method takes shorter time and is recommended.

Method 1. Rebuild the ros workspace inside the container:

$cd ~/MAVs/ros
$catkin_make

After that, you need to commit the change of image. To do this, open a terminal outside of the container and type:

$docker commit <container_name> <image_name>

Where container_name can be found with:

$ docker container ls

You will see something like this:

CONTAINER ID        IMAGE               COMMAND                  CREATED             STATUS              PORTS               NAMES
7607f52ca7a2        mavs                "/ros_entrypoint.sh …"   8 minutes ago       Up 8 minutes                            reverent_shtern
ce4096e14bef        mavs                "/ros_entrypoint.sh …"   12 hours ago        Up 12 hours                             vigilant_johnson

The most recently created one, reverent_shtern, is the one you want to commit. Don't forget about tab completion.

Then you can look at your images with:

$ docker image ls

Which gives something like:

REPOSITORY          TAG                 IMAGE ID            CREATED             SIZE
<none>              <none>              46eac405dcb4        8 minutes ago       9.56GB
mavs                latest              7c00d6949be1        12 hours ago        11.8GB

where the first image is the failed build obtained with Method 2...

Finally, in this example we have:

$docker commit reverent_shtern mavs

Method 2. Rebuild the image if container is terminated:

$sh build.sh

Potential issue

File "/home/mavs/MAVs/ros/src/CMakeLists.txt" already existsCMake Error: The current CMakeCache.txt directory /home/mavs/MAVs/ros/build/CMakeCache.txt is different than the directory /home/febbo/Documents/workspace/MAVs/ros/build where CMakeCache.txt was created. This may result in binaries being created in the wrong place. If you are not sure, reedit the CMakeCache.txt
CMake Error: The source "/home/mavs/MAVs/ros/src/CMakeLists.txt" does not match the source "/home/febbo/Documents/workspace/MAVs/ros/src/CMakeLists.txt" used to generate cache.  Re-run cmake with a different source directory.

Fix

Remove the cache file OR just use the first method

Creating a demo

TODO

Testing

TODO

Documentation

TODO

Making a pull request

TODO