{"id":55,"date":"2024-04-04T08:01:26","date_gmt":"2024-04-04T05:01:26","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/catkini-tooruum\/"},"modified":"2024-04-04T08:03:57","modified_gmt":"2024-04-04T05:03:57","slug":"catkini-tooruum","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/catkini-tooruum\/","title":{"rendered":"4. Catkini t\u00f6\u00f6ruum"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>ROSiga t\u00f6\u00f6tamisel on oluline aru saada, mis on catkini t\u00f6\u00f6ruum, kuidas seda kompileerida ja laadida. Teeme seda koos.<\/strong>\n\t<\/p>\n<p>\n\t\tHarjutuse sooritamiseks on vaja ligip\u00e4\u00e4su Ubuntuga arvutile, kuhu on paigaldatud ROS. Kui kasutad kursuse korraldajate poolt loodud s\u00fcsteemi, siis on sinna nii Ubuntu kui ROS paigaldatud.\n\t<\/p>\n<p>\n\t\t<em><span>Samm-sammulise juhendi vaatamiseks klikka harjutuse vahepealkirjadele.<\/span><\/em>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d401d4915fc-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d401d4915fc-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d401d4915fc-collapse\"><strong>Kuidas leida catkini t\u00f6\u00f6ruum<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d401d4915fc-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d401d4915fc-heading\">\n            <div class=\"accordion-body\">Catkini t\u00f6\u00f6ruum on lihtsalt \u00fcks kaust, mille sees omakorda on kaust nimega <span style=\"font-family:Courier New,Courier,monospace\">src<\/span>, kus asuvad ROSi kimbud. Sageli on aga catkini t\u00f6\u00f6ruumil nimi <span style=\"font-family:Courier New,Courier,monospace\">catkin_ws<\/span> ning see v\u00f5ib asuda n\u00e4iteks kasutaja kodukaustas. Vaata j\u00e4rgi, kas leiad oma s\u00fcsteemist juba olemasoleva catkini t\u00f6\u00f6ruumi.\n\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d401d491614-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d401d491614-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d401d491614-collapse\"><strong>Kui catkini t\u00f6\u00f6ruum on leitud<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d401d491614-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d401d491614-heading\">\n            <div class=\"accordion-body\">Kui arvutis leidub catkini t\u00f6\u00f6ruum, siis tuleb p\u00e4rast selles asuvasse <span style=\"font-family:Courier New,Courier,monospace\">src<\/span>-kausta uute kimpude l\u00e4htekoodi paigutamist need kimbud kompileerida. T\u00f6\u00f6ruumi v\u00f5ib aga kompileerida ka ilma uusi kimpe juurde lisamata, seega proovime seda koos teha.\n\n<h4>\n\tKompileerimine<br>\n<\/h4>\n<p>\n\tCatkini t\u00f6\u00f6ruumis olevate kimpude kompileerimiseks <strong>liigu terminalis catkini t\u00f6\u00f6ruumi k\u00e4suga <span style=\"font-family:Courier New,Courier,monospace\">cd<\/span><\/strong>\n<\/p>\n<pre>cd ~\/catkin_ws<\/pre>\n<p>\n\t<strong>Seej\u00e4rel sisesta kompileerimiseks j\u00e4rgmine k\u00e4sk<\/strong>:\n<\/p>\n<pre>catkin build<\/pre>\n<p>\n\tSelle k\u00e4su t\u00e4itmine v\u00f5ib v\u00f5tta m\u00f5nev\u00f5rra aega, olenevalt sellest, kui palju on catkini t\u00f6\u00f6ruumis kimpe ja mis neis sisaldub.\n<\/p>\n<h4>\n\tLaadimine<br>\n<\/h4>\n<p>\n\tCatkini t\u00f6\u00f6ruumis olevate kimpude kasutamiseks on vaja t\u00f6\u00f6ruum <strong>laadida<\/strong>. <strong>Kui oled terminaliga catkini t\u00f6\u00f6ruumi p\u00f5hikaustas (nt kaustas <span style=\"font-family:Courier New,Courier,monospace\">catkin_ws<\/span>)<\/strong>, siis saab seda p\u00e4rast kompileerimist teha j\u00e4rgmise k\u00e4suga:\n<\/p>\n<pre>source devel\/setup.bash<\/pre>\n<blockquote class=\"os-kollane\">\n<p>\n\t\tKui lisad ROSiga t\u00f6\u00f6tamisel catkini t\u00f6\u00f6ruumi uue kimbu, siis paiguta see alati catkini t\u00f6\u00f6ruumis olevasse <span style=\"font-family:Courier New,Courier,monospace\">src<\/span> kausta.<br>P\u00e4rast seda \u00e4ra unusta t\u00f6\u00f6ruumi <strong>kompileerida<\/strong> ja p\u00e4rast seda ka <strong>laadida<\/strong>.\n\t<\/p>\n<\/blockquote>\n<blockquote class=\"os-kollane\">\n<p>\n\t\tKui avatud on mitu terminali, siis piisab, et\u00a0<strong>kompileerida<\/strong>\u00a0vaid\u00a0<strong>\u00fches<\/strong> neist, kuid\u00a0t\u00f6\u00f6ruumi <strong>laadimine<\/strong> on tarvis teha <strong>k\u00f5igis terminaliakendes <\/strong>eraldi.\n\t<\/p>\n<\/blockquote>\n<blockquote class=\"os-kollane\">\n<p>\n\t\tV\u00f5id laadimisk\u00e4su l\u00f5petamiseks kasutada tab-klahvi. V\u00f5id lasta arvutil seda ka osaliselt l\u00f5petada, siis m\u00f5ne t\u00e4hem\u00e4rgi ise tr\u00fckkida ja uuesti tab-klahvi proovida kasutada.\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>ROSiga t\u00f6\u00f6tamisel on oluline aru saada, mis on catkini t\u00f6\u00f6ruum, kuidas seda kompileerida ja laadida. Teeme seda koos. Harjutuse sooritamiseks on vaja ligip\u00e4\u00e4su Ubuntuga arvutile, kuhu on paigaldatud ROS. Kui kasutad kursuse korraldajate poolt loodud s\u00fcsteemi, siis on sinna nii &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-55","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/55","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=55"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/55\/revisions"}],"predecessor-version":[{"id":346,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/55\/revisions\/346"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=55"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}