He, Peng

A Roboticist.

The secret of getting ahead is getting started.

What Does The ".Bashrc" Actually Do ?


(Trajopt is finding a solution)

The .bashrc is made for user connivence. By logging settings in this file, a user doesn't have to source the environment path that he needs for a new terminal window.

The name ROS_PACKAGE_PATH is a environment varaible name. The {ROS_PACKAGE_PATH} is the name itself, this basiclly means x = PATH + x, which adds the new path to the old. The colounm : is used to separet two paths.

export ROS_PACKAGE_PATH=~/ros_workspace:/home/peng/octomapLib/alufr-ros-pkg/:${ROS_PACKAGE_PATH}

This is used for sourcing a single file:

source /opt/ros/hydro/setup.bash

Here is the sample .bashrc from my computer.
注意 alias 等号后面不能有空格

$ subl ~/.bashrc

alias mathome='cd /home/mfeng/Matlab-Tests/'  
source /opt/ros/hydro/setup.bash  
source /usr/share/drcsim/setup.sh  
source /home/mfeng/drc_workspace/devel/setup.bash

alias drchome='cd ~/drc_workspace/src/drc/'  
alias drcmake='catkin_make install -DCMAKE_INSTALL_PREFIX:PATH=~/drc_workspace/install -C ~/drc_workspace -DCMAKE_BUILD_TYPE=Release'  
alias drceclipse='catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -

export GAZEBO_PLUGIN_PATH=/home/mfeng/drc_workspace/devel/lib:${GAZEBO_PLUGIN_PATH}  
export GAZEBO_MODEL_PATH=/home/mfeng/drc_workspace/src/drc/field/robotiq:${GAZEBO_MODEL_PATH}  
export PYTHONPATH=/home/mfeng/drc_workspace/src/drc/trajopt/build_trajopt/lib:/home/mfeng/drc_workspace/src/drc/trajopt:${PYTHONPATH}  
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/lib  
export GUROBI_HOME=/opt/gurobi603/linux64  
export OPENRAVE_DATA=${OPENRAVE_DATA}:/home/mfeng/drc_workspace/src/drc/trajopt/  
alias drctrajopt='cd ~/drc_workspace/src/drc/trajopt/'
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