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Getting Started - tutorial changes.rst #959

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11 changes: 11 additions & 0 deletions doc/tutorials/getting_started/getting_started.rst
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Expand Up @@ -95,6 +95,17 @@ This build command will likely take a long time (20+ minutes) depending on your
If you are low on computer memory, or if the build is generally having trouble completing on your computer,
you can try appending ``--executor sequential`` to the ``colcon`` command above to build only one package at a time, or ``--parallel-workers <X>`` to limit the number of simultaneous builds. For even more limited machines, you can try running ``MAKEFLAGS="-j4 -l1" colcon build --executor sequential``.

.. note::

To greatly reduce the build time of subsecuent builds, make sure you have installed and properly configured ``ccache`` on your compiler.
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To greatly reduce the build time of subsecuent builds, make sure you have installed and properly configured ``ccache`` on your compiler.
To greatly reduce the build time of subsequent builds, you can optionally set up ``ccache`` on your system.


.. code-block:: bash

sudo apt install -y ccache
sudo /usr/sbin/update-ccache-symlinks
echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc
source ~/.bashrc && echo $PATH

If everything goes well, you should see the message "Summary: X packages finished" where X might be 50. If you have problems, try re-checking your `ROS Installation <https://docs.ros.org/en/rolling/Installation.html>`_.

Setup Your Colcon Workspace
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