Clone the PR2's ROS repository located at https://github.com/pr2/
cd ~ && git clone https://github.com/PR2/pr2_developer_kit
rosinstall all the packages
cd pr2_developer_kit
git checkout hydro-devel
rosinstall .
Go to whatever package you choose, but in this example I will use the pr2_gripper_sensor package.
cd pr2_gripper_sensor
Update your package and make whatever modifications required and then (don't forget to save them to github and test them with catkin_make compilation)
catkin_generate_changelog
catkin_prepare_release
bloom-release --rosdistro hydro --track hydro pr2_gripper_sensor
For the release URL it will be located at https://github.com/pr2-gbp/${your_package_name}. For the source URL it is at https://github.com/pr2/${your_package_name}. That is all that is required. Following through on how to go through the bloom prompts; use this tutorial. http://wiki.ros.org/bloom/Tutorials/ReleaseCatkinPackage
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