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## note = This tutorial assumes that you have complete the previous tutorials: [[roch/Tutorials/Using package of roch_bringup|roch_bringup]], [[ROS/EnvironmentVariables|ROS enviroment variables]] and [[ROS/Tutorials/InstallingandConfiguringROSEnvironment|How to configure enviroment]]
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## description = Check out and configure env variables on Roch.
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Env on Roch ==
This assumes that you hav a [[Robots/Roch|Roch]] and configuration has done.

Now, Let's check out how many variables of environment on Roch, typing following command:

 {{{
export | grep ROCH_
}}}

or 

 {{{
env | grep ROCH_
}}}

After preceding command you will get following output :

 {{{
declare -x ROCH_3D_SENSOR="astra"
declare -x ROCH_3D_SENSOR_ENABLE="TRUE"
declare -x ROCH_3D_SENSOR_NAV_ENABLE="FALSE"
declare -x ROCH_BASE="roch"
declare -x ROCH_BATTERY
declare -x ROCH_DESCRIPTION="/home/carl/test_husky/src/roch_v106120170117172/roch_project/roch/roch_description/robots/roch_standard_asus_xtion_pro.urdf.xacro"
declare -x ROCH_GAZEBO_DESCRIPTION="/home/carl/test_husky/src/roch_v106120170117172/roch_project/roch_simulator/roch_gazebo/urdf/description.gazebo.xacro"
declare -x ROCH_GAZEBO_MAP_FILE="/home/carl/test_husky/src/roch_v106120170117172/roch_project/roch_simulator/roch_gazebo/maps/sawyer_playgen.yaml"
declare -x ROCH_GAZEBO_WORLD_FILE="/home/carl/test_husky/src/roch_v106120170117172/roch_project/roch_simulator/roch_gazebo/worlds/sawyer_playgen.world"
declare -x ROCH_INTERACTIONS_LIST="[roch_bringup/admin.interactions, roch_bringup/documentation.interactions, roch_bringup/pairing.interactions, roch_bringup/visualisation.interactions]"
declare -x ROCH_LASER="rplidar"
declare -x ROCH_LASER_ENABLE="FALSE"
declare -x ROCH_MAG_CONFIG=""
declare -x ROCH_MAP_FILE="/home/carl/test_husky/src/roch_v106120170117172/roch_project/roch/roch_navigation/maps/willow-2010-02-18-0.10.yaml"
declare -x ROCH_NAME="roch"
declare -x ROCH_RAPP_PACKAGE_BLACKLIST="[]"
declare -x ROCH_RAPP_PACKAGE_WHITELIST="[rocon_apps, roch_rapps]"
declare -x ROCH_SERIAL_PORT="/dev/roch"
declare -x ROCH_SIMULATION="false"
declare -x ROCH_STACKS="standard"
declare -x ROCH_TYPE="roch"
}}}

== Change Values ==

We had checkout environment variables about Roch, and now we should change the values that we don not wanner such as '''''ROCH_3D_SENSOR''''' is '''astra''' we don not want, we can change the value to we need such as '''xtion''', '''astra'''.

Now there have some ways to change the values.

=== Command-line ===

We can use following command to change values which we don not wanner, like we change '''''ROCH_LASER''''' to rplidar:
 {{{
export ROCH_LASER=rplidar
}}}

Typing following command to check out:
 {{{
env | grep ROCH_LASER
}}}

Once you close current terminal, the value of '''''ROCH_LASER''''' will recovery to '''rplidar''', so we should get a permanent ways to keep values not change.

=== .bashrc file ===

The '''.bashrc''' file will do we wanner, once we put our values into '''.bashrc''' file, the values will never change until you change value in '''.bashrc'''.

Open '''''~/.bashrc''''' file using your favorite editor, such as '''gedit''':
 {{{
gedit ~/.bashrc
}}}

Adding following lines at end of '''.bashrc''' file:

 {{{
export ROCH_BASE=roch
export ROCH_STACKS=standard
export ROCH_3D_SENSOR=astra	#for now have four support sensor [ asus_xtion_pro, kinect, r200, astra]
export ROCH_LASER=rplidar		#for now have two support laser [ ls01c, rplidar]
export ROCH_3D_SENSOR_ENABLE=true
export ROCH_3D_SENSOR_NAV_ENABLE=false
export ROCH_LASER_ENABLE=true
}}}

Close file and reopen terminal, using following command to checkout:

 {{{
env | grep ROCH_
}}}





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