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Getting started

Prerequisites

  • ROS 2 (Jazzy or later) installed and sourced
  • A ROS 2 workspace (e.g., ~/ros2_ws)

1. Clone the repository

cd ~/ros2_ws/src
git clone https://github.com/kas-lab/triplestar_kb.git
cd ..

2. Install dependencies

rosdep install -i --from-path src/triplestar_kb -r -y

3. Build and source the workspace

Build the packages required to create and launch a custom bringup package:

colcon build --symlink-install --merge-install --packages-up-to triplestar_cli
source install/setup.bash

Sourcing install/setup.bash makes the packages and the ros2 triplestar command available in the current shell. Source it again in every new terminal.

4. Create a bringup package

TriplestarKB requires a custom bringup package for its scenario-specific configuration. The triplestar_bringup package supplies the shared launch file and template, so it is not launched directly.

ros2 triplestar bringup new --name my_robot_kb

5. Build and discover your package

colcon build --symlink-install --merge-install --packages-select my_robot_kb
source install/setup.bash
ros2 triplestar bringup list

The list should include my_robot_kb.

6. Launch your custom bringup

ros2 triplestar bringup launch my_robot_kb

This starts the KB with the configuration from my_robot_kb.

7. Continue learning