Creating a Node

Creating a New Node

To create a new node, you can simply copy the rbd_controller_template folder, rename and modify the included files accordingly.

Building on Target

In most cases, it is sufficient to only build the packages in which you have changed something by using:

• root@nx:~/catkin_ws# catkin build package_name

Since most of the heavy packages (ZED, Ouster etc.) are not changed, building the whole workspace by using catkin build is not time efficient.

Nevertheless, if you are encountering errors which you suspect to be caused by faulty builds or changes aren’t applied, you can do a clean rebuild.

• First clean the workspace with catkin clean

• Build all packages with catkin build