imu/imu_pkg_struct.sh at main · Rumarino-Team/imu · GitHub

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#!/bin/bash

# This script will create a standard ROS Inertial Measurement Unit Package

# Script requirements:
# - ROS Medolic
# - ROS standard workspace
# - A zip file of the vnprogramming library on the user's downloads directory.
# - pip3.

# Process of creating the ROS IMU PKG:

cd ~/catkin_ws/src # Change directory to your source directory of your standard catkin workspace
catkin_create_pkg imu rospy std_msgs geometry_msgs tf message_generation message_runtime # create the dvl package
cd ~/catkin_ws # change directory to your standard catkin workspace
catkin_make # compile workspace
. ~/catkin_ws/devel/setup.bash # To add the workspace to your ROS environment you need to source the generated setup file

# Standard package process setup:

cd ~/catkin_ws/src/imu # change directory to the DVL pkg dir
touch run.sh& # Creates script that will run the client and server
touch README.md& # creates readme.md for the whole pacage director
echo -e "#Rumarino ROS Inertial Measurement Unit Package \nTODO: Document" >> README.md&
touch .gitignore

## Process of creating necessary directories for the package:

mkdir config& # used for .yaml files
mkdir msg& # used for .msg files
mkdir launch& # used for .launch files
mkdir scripts # used for ros executable files

## Process of creating initial files that are needed for this package:

## Setup of config Directory:

cd config
touch README.md # Creates readme.md for config directory

cd .. # change back

## Setup of message Directory:

cd msg
touch Raw_IMU.msg& # Creates .msg file for Raw DVL data
touch README.md # Creates readme.md for message directory

cd .. #change back

## Setup of launch Directory:

cd launch
touch hydrus_imu.launch& # Creates .launch file for DVL component
touch README.md # Creates readme.md for launch directory

cd .. # change back

## Setup of scripts Directory:

cd scripts
mkdir Client

### Setup of Client Directory:

cd Client
touch __init__.py& # this indicates that this directory will be a python package
touch imu_client_node.py& # Creates the executable that the package will use
touch README.md # Creates readme.md for message directory

cd .. # change back
cd .. # change back

## Setup of Source Directory:

cd src
touch README.md # Creates readme.md for source directory
mkdir lib # Directory that will hold libraries built by user or any programing library required.
cd lib
touch README.md # Creates readme.md for lib directory
mkdir Server # Directory designated for anything that is related to the Server that will interface with the DVL

### Setup of Server Directory:

cd Server
touch __init__.py& # this indicates that this directory will be a python package
touch imu_connector.py&
touch imu_data.py&
touch server.py&
touch requirements.txt&
touch start_serv&
touch README.md # Creates readme.md for server directory

### Setup of Directory for the IMU Programming Library:


cd ~/Downloads
unzip vnproglib.zip -d ~/catkin_ws/src/imu/src/lib
cd  ~/catkin_ws/src/imu/src/lib/vnproglib/python
pip3 install . # locally install python package

# Compile your catkin worskpace one last time:

cd ~/catkin_ws # change directory to your standard catkin workspace
catkin_make # compile workspace

# Validation process:
cd
rospack depends1 imu # finally, check package dependacies