Repositories

The cisst/SAW code is modular by nature. There is a main repository for the cisst libraries and then a repository per SAW component. To facilitate the code deployment, we also maintain some “meta” projects, each of them consisting of git submodules and a main CMakeLists. These “meta” projects allow to pull a subset of git repositories and provide a CMake configuration that can be tailored for a specific application.

The cisst/SAW code primary repositories are now hosted on github.com. To avoid clutter, the repositories are located in:

http://github.com/jhu-cisst

cisst.git, all the cisst libraries, recommended for users not interested in SAW components and applications

share.git, data used for some of the cisst examples and unit tests, this is a git submodule of cisst.git

cisst-saw.git, meta project containing cisst and most SAW modules, strongly recommended for cisst/SAW users

cisst-ros.git, SAW component and conversion functions used to create bridges between the cisst/SAW components and ROS

mechatronics-*, projects related to the QLA-FPGA controller board

http://github.com/jhu-saw

Generic SAW components

Individual projects, all of them require the cisst libraries

If you decided to checkout the SAW components individually, you will need to build them against an existing cisst build tree

http://github.com/jhu-dvrk

SAW components specific to the da Vinci Research Kit

ROS files for the da Vinci Research Kit

Getting the latest version

The most useful repositories are:

http://github.com/jhu-cisst/cisst.git - cisst libraries, examples and test programs. Also adds share directory as a git submodule
http://github.com/jhu-cisst/cisst-saw.git. This repository is useless if the git submodules are not initialized and updated properly.

Command line (Linux, Mac OS X, …)

cisst without the data (e.g. cisst.git)

Initial clone

git clone https://github.com/jhu-cisst/cisst.git

Update your local copy
```
git pull origin main
```

cisst with the shared data

Initial clone

git clone https://github.com/jhu-cisst/cisst.git --recursive

Update your local copy

git pull origin main
git submodule update --recursive

cisst and SAW

Initial clone
```
git clone https://github.com/jhu-cisst/cisst-saw.git --recursive
```
If you forgot to add the --recursive options on the command line, you can go in the cisst-saw directory and retrieve the submodules using:
```
git submodule init
git submodule update --recursive
```

Update your local copy

git pull origin main
git submodule update --recursive

Update your local copy, if new submodules have been added

git pull origin main
git submodule update --init --recursive

Windows GUI

There are many GUI based tools for git. You can find a list on http://git-scm.com/downloads/guis.

Some of the Windows clients only work on recent OSs, i.e. Windows 7 and 8.
On windows XP, we had some success with “Git Extensions”. You can install the “Git Extensions” from https://code.google.com/p/gitextensions/.

If you are cloning a project with submodules, make sure you check the “Initialize all submodules”

cisst/SAW developers

Working with submodules can be a bit tricky. When you are working within a meta project and modify multiple submodules, you will need to:

Commit and push your changes in each individual submodule
Go the the parent project, i.e. the project containing the submodules
Add each modified submodule, i.e. git add <modified-module>
Commit and push the meta project to reflect that the meta project now relies on a new version of the submodule(s)

If you omit the last two steps, the meta project will assume you don’t want to use the updated submodules.

For a single submodule to update:

git pull
cd module1
git checkout main
git pull
cd ..
git status # to check if there is anything different
git commit -a -m "use latest version of submodules"

For multiple modules, you can use the foreach syntax in git:

git pull
git submodule foreach git checkout main
git submodule foreach git pull
git status # to check if there is anything different
git commit -a -m "use latest version of submodules"