Maintaining a Source Checkout of ROS 2¶
If you have installed ROS 2 from source, there may have been changes made to the source code since the time that you checked it out.
To keep your source checkout up to date, you will have to periodically update your
ros2.repos file, download the latest sources, and rebuild your workspace.
Update your repository list¶
Each ROS 2 release includes a
ros2.repos file that contains the list of repositories and their version for that release.
To download the repository list from the latest ROS 2 release, run:
cd ~/ros2_ws mv -i ros2.repos ros2.repos.old wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
# CMD > cd \dev\ros2 > curl -sk https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos -o ros2.repos # PowerShell > cd \dev\ros2 > curl https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos -o ros2.repos
If you wish to checkout a particular release, you can get its repository list by specifying the name of the release in the url of the following step, e.g. for alpha 7:
cd ~/ros2_ws mv -i ros2.repos ros2.repos.old wget https://raw.githubusercontent.com/ros2/ros2/release-alpha8/ros2.repos
# CMD > cd \dev\ros2 > curl -sk https://raw.githubusercontent.com/ros2/ros2/release-alpha8/ros2.repos -o ros2.repos # PowerShell > cd \dev\ros2 > curl https://raw.githubusercontent.com/ros2/ros2/release-alpha8/ros2.repos -o ros2.repos
The format of the name of the release comes from the tag associated with the release here.
If you wish to checkout the bleeding-edge development code, you can get the relevant repository list by running:
cd ~/ros2_ws mv -i ros2.repos ros2.repos.old wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
# CMD > cd \dev\ros2 > curl -sk https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos -o ros2.repos # PowerShell > cd \dev\ros2 > curl https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos -o ros2.repos
Update your repositories¶
You will notice that in the ros2.repos file, each repository has a
version associated with it that points to a particular commit hash, tag, or branch name.
It is possible that these versions refer to new tags/branches that your local copy of the repositories will not recognize as they are out-of-date.
Because of this, you should update the repositories that you have already checked out with the following command:
vcs custom --args remote update
Download the new source code¶
You should now be able to download the sources associated with the new repository list with:
vcs import src < ros2.repos vcs pull src
# CMD > vcs import src < ros2.repos > vcs pull src # PowerShell > vcs import --input ros2.repos src > vcs pull src
Rebuild your workspace¶
Now that the workspace is up to date with the latest sources, remove your previous install and rebuild your workspace with, for example:
colcon build --symlink-install
Inspecting your source checkout¶
During your development you may have deviated from the original state of your workspace from when you imported the repository list. If you wish to know the versions of the set of repositories in your workspace, you can export the information using the following command:
cd ~/ros2_ws vcs export src > my_ros2.repos
> cd \dev\ros2 > vcs export src > my_ros2.repos
my_ros2.repos file can then be shared with others so that they can reproduce the state of the repositories in your workspace.