Installation

This document assumes you have a basic ROS 2 installation. If not, refer to the official ROS documentation.

Binary Installation

The easiest way to install the ROS2 CLIPS-Executive is via your package manager:

Note

The ROS2 CLIPS-Executive is currently in the process of being indexed, hence binary packages might not be available yet.

sudo apt intall ros-<ros2-distro>-clips-executive

Installation from Source

Todo

dependency.repos should not be necessary

All dependencies are listed in the dependency.repos file of the ROS2 CLIPS-Executive project. This enables setting up a dependency workspace using vcstool.

The following steps will set up two workspaces, one for dependencies of the ROS2 CLIPS-Executive and one for the main project. Adjust target locations as needed.

mkdir -p ~/ros2/{clips_executive_ws,deps_clips_executive_ws}/src
git clone -b tviehmann/major-cleanup https://github.com/fawkesrobotics/ros2-clips-executive.git ~/ros2/clips_executive_ws/src/ros2-clips-executive
cd ~/ros2/deps_clips_executive_ws/src
vcs import < ~/ros2/clips_executive_ws/src/ros2-clips-executive/dependency.repos
cd ~/ros2/deps_clips_executive_ws/
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF

Then source the workspace with dependencies and build the CLIPS-Executive:

source ~/ros2/deps_clips_executive_ws/install/setup.bash
cd ~/ros2/clips_executive_ws/
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF
source ~/ros2/clips_executive_ws/install/setup.bash