Install

Setup

add repositories to settings.xml, see Maven.
Create a directory for bonsai and change into the dir:
```
mkdir bonsai
cd bonsai
```

Checkout bonsai and addons:

git clone https://github.com/CentralLabFacilities/bonsai.git

Note

Robocup at Bielefeld only repositories:

git clone https://github.com/CentralLabFacilities/bonsai_addons.git
git clone https://gitlab.ub.uni-bielefeld.de/CLF/Robocup/robocuptasks.git
git clone https://gitlab.ub.uni-bielefeld.de/CLF/Robocup/Students/ws22/bonsai_exercise.git

Copy tutorials and patch the path:

cp -r bonsai/bonsai_tutorials my_dist
cp my_dist/src/main/resources/localMapping.default.properties my_dist/src/main/resources/localMapping.properties
sed -i 's@<PATH_TO>@'"$PWD"'@g' my_dist/src/main/resources/localMapping.properties

Assemble run script:

cd my_dist
mvn -B install appassembler:assemble

Running

Start a roscore in another terminal

Run example statemachine:

target/appassembler/bin/bonsai -c src/main/config/bonsai_configs/minimalConfig.xml -t src/main/config/state_machines/minimal.xml

You can also start LaunchLocal.java from within your IDE

Building all projects

Prerequisites

Note

Robocup at Bielefeld: sourcing your distribution satisfies all prerequisites:

source /vol/<DIST>/setup.bash

install ros-version-desktop

create and initialize a catkin workspace:

mkdir ws_bonsai
cd ws_bonsai
source /opt/ros/*version*/setup.bash
mkdir src
catkin init

additional package requirements:

git clone https://github.com/CentralLabFacilities/rosjava_bootstrap.git src/rosjava_bootstrap
git clone https://github.com/CentralLabFacilities/rosjava_build_tools.git src/rosjava_build_tools

git clone https://github.com/CentralLabFacilities/rosjava_core.git src/rosjava_core
git clone https://github.com/CentralLabFacilities/genjava.git src/genjava

git clone https://github.com/CentralLabFacilities/rosjava_actionlib.git src/rosjava_actionlib

build the packages:
```
catkin build
```

generate messages:

source devel/setup.bash
rosrun genjava genjava_message_artifacts

Building

clone bonsai projects:

git clone https://github.com/CentralLabFacilities/bonsai.git src/bonsai

build workspace:
```
catkin build
```

run bonsai tutorials dist:

source devel/setup.bash
roslaunch bonsai_tutorials bonsai.launch

Robocup at Bielefeld

Pepper

Setup Jenkins
Install IntelliJ IDEA

Run the following commands:

mkdir bonsai
cd bonsai
git clone https://github.com/CentralLabFacilities/bonsai.git
git clone https://github.com/CentralLabFacilities/bonsai_addons.git
git clone http://projects.cit-ec.uni-bielefeld.de/git/pepper.bonsai.git
git clone http://projects.cit-ec.uni-bielefeld.de/git/robocupathome.robocup-dist.git
cp pepper.bonsai/pepper-bin/src/main/resources/localMapping.default.properties pepper.bonsai/pepper-bin/src/main/resources/localMapping.properties
sed -i 's@<PATH_TO>@'"$PWD"'@g' pepper.bonsai/pepper-bin/src/main/resources/localMapping.properties
cd pepper.bonsai
cp -R idea-default idea
idea idea

Idea should now start with every bonsai module loaded. Delete the modules you are not working on (FILE->Project Structure / Modules)

Misc

Maven

To fetch the dependencies of bonsai add the following repositories to your .m2/settings.xml

Repositories:

...
<profiles>
    <profile>
        ...
        <repositories>

            <repository>
                <id>citec</id>
                <name>citec</name>
                <url>https://mvn.cit-ec.de/nexus/content/repositories/releases</url>
                <layout>default</layout>
                <releases>
                    <updatePolicy>always</updatePolicy>
                    <enabled>true</enabled>
                </releases>
            </repository>

            <repository>
                <id>citec-snapshots</id>
                <name>citec-snapshots</name>
                <url>https://mvn.cit-ec.de/nexus/content/repositories/snapshots</url>
                <layout>default</layout>
                <releases>
                    <enabled>false</enabled>
                </releases>
                <snapshots>
                    <enabled>true</enabled>
                    <updatePolicy>always</updatePolicy>
                </snapshots>
            </repository>

        </repositories>
        ...
    </profile>
</profiles>
...