diff --git a/docs/src/main/sphinx/getting_started.rst b/docs/src/main/sphinx/getting_started.rst index be78f1c0a6fd519d1b453bf29df593f3afb0e63e..ed03e5fc0d85d508c25caec8fe73549ce333792c 100644 --- a/docs/src/main/sphinx/getting_started.rst +++ b/docs/src/main/sphinx/getting_started.rst @@ -8,7 +8,7 @@ Creating a new Java package Please refer to the `RosWiki`_ for more information on how to create a new gradle/catkin project and subprojects. You might also wish to read the -Gradle `Java tutorial`_ for more details. +Gradle `Java tutorial`_ for more details about building with gradle itself. .. _RosWiki: http://wiki.ros.org/rosjava .. _Maven plugin: http://gradle.org/docs/current/userguide/maven_plugin.html @@ -151,11 +151,13 @@ processes: .. code-block:: bash - roscd rosjava_tutorial_pubsub + # source your devel/setup.bash + roscd rosjava_core + cd rosjava_tutorial_pubsub ../gradlew installApp roscore & - ./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker & - ./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener + ./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker & + ./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener .. note:: The above example launches roscore and the Talker node in the background. You could instead launch each in a separate terminal. Also, you @@ -176,8 +178,8 @@ the default topic /chatter to /foo. .. code-block:: bash - ./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker chatter:=/foo & - ./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener chatter:=/foo + ./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker chatter:=/foo & + ./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener chatter:=/foo See :roswiki:`Remapping%20Arguments` for more information on passing arguments to ROS executables. @@ -231,11 +233,13 @@ Building and executing these nodes works in the same manner as described above: .. code-block:: bash - roscd rosjava_tutorial_services + # source your devel/setup.bash + roscd rosjava_core + cd rosjava_tutorial_services ../gradlew installApp roscore & - ./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Server & - ./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Client + ./build/install/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Server & + ./build/install/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Client At this point, you should see the log message "2 + 2 = 4" appear in your terminal. You can also access the service using the :roswiki:`rosservice` @@ -266,16 +270,8 @@ the underlying message implementation to change in the future. :: PointCloud2 msg = node.getTopicMessageFactory() .newMessage(sensor_msgs.PointCloud._TYPE); -If you want to use messages that you define: - -- create a new package for those messages (e.g. my_msgs) -- ensure that my_msgs is in your ROS_PACKAGE_PATH (see :roswiki:`EnvironmentVariables`) -- reinstall rosjava_messages (see :doc:`building`) - -.. code-block:: bash - - roscd rosjava_messages - ../gradlew install +If you want to use messages that you define, whether they are officially released packages or your +own custom packages, follow the instructions on the roswiki (refer to :roswiki:`rosjava/Messages`). Parameters ---------- @@ -358,3 +354,4 @@ logging outputs for ROS. :: .. _Apache Commons Log: http://commons.apache.org/logging/commons-logging-1.1.1/apidocs/index.html +