Installation

Let’s get the workspace built. This will clone the repo, pull in all the third-party packages, and do a full colcon build.

1. Create the workspace and clone the repo

mkdir -p ~/bt_ws/src
cd ~/bt_ws/src
git clone https://github.com/arab-meet/delib_flow.git

2. Pull in third-party packages

The setup script picks the right .repos file for your ROS distro, runs vcs import, and calls rosdep install to grab any missing system packages.

cd ~/bt_ws/src/delib_flow
./setup_third_party_pkgs.sh

This will clone around 25 packages (TiAGo description, Nav2 configs, MoveIt2 configs, Grab2, YOLO ROS, BehaviorTree.ROS2, and the gripper packages). It takes a while the first time, so grab a coffee.

3. Build

cd ~/bt_ws
colcon build --symlink-install

The --symlink-install flag means you can edit Python scripts and config files without rebuilding every time, which is handy during development.

4. Source the workspace

Add this to your .bashrc (or .zshrc) so every new terminal picks up the workspace:

echo "source ~/bt_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

You are all set. Check out First Launch to run your first demo.