Ros Add Package To Workspace

I'd like to have all the packages in workspace to be. Building Packages. The easier and faster is installing it from packages but installing from source means you can more easily debug and submit bug patches ;-) A. Instead, roslaunch provides the "$(find package_name)" directive, this way, we can refer to our launch file relative to the package racine. rosed Open requested ROS le in a text editor. For 2 day-passes price is $60 per month, 4 day-passes cost $100 per month, and 8 day-passes cost $190 per month. The Jackal_navigation package simply contains configuration files in the params directory, and launch files to load these parameters and launch certain packages in the ROS navigation stack. The Packages configuration is where you'll manage everything related to the packages (Apps) you make available to your users. Integrated insights Get complete visibility into your digital workspace and gain deep insights that enable. New packages from external repositories such as github are conventionally placed into the src folder of your catkin workspace. ROS build system: The build system is responsible for building the target executable or library from the raw source code inside an ROS package. Save and close the file. Create Custom Messages from ROS Package In this example, you go through the procedure for creating ROS custom messages in MATLAB ® using the ROS Custom Message add-on. As long as all of the system dependencies of your package are installed, we can now build your new package. Each package is built in a special environment which is loaded from the current workspace and any workspaces that the current workspace is extending. Through a GUI - using the Motion Planning plugin to Rviz (the ROS visualizer) move_group can be configured using the ROS param server from where it will also get the URDF and SRDF for the robot. In this example, you go through the procedure for creating ROS custom messages in MATLAB ®. There are many ways to start Gazebo, open world models and spawn robot models into the simulated environment. Additionally, if you look in your current directory you should now have a 'build' and 'devel' folder. In this module we will create the workspace where we will build the components of our Scan-N-Plan application. catkin build can be used from any directory in the workspace while catkin_make only works in the top level directory. I also created a package using catkin_create_pkg under the workspace I just created. FLX Workspace is a new boutique coworking space based in Downtown Seneca Falls. ROS Kinetic Cheatsheet Filesystem Management Tools rospack A tool for inspectingpackages. Creating a workspace for catkin Description: This tutorial covers how to setup a catkin workspace in which one or more catkin packages can be built. ROS_PACKAGE_PATH can be composed of one or more paths separated by your standard OS path separator (e. Creating a Package ROS code is organized in packages → To start developing with ROS we need a package within our catkin workspace The simplest possible package might look like this: my_package/ CMakeLists. I have tried to integrate these with my ROS workspace but I am unable to do that. What is IKFast?¶ IKFast, the Robot Kinematics Compiler, is a powerful inverse kinematics solver provided within Rosen Diankov's OpenRAVE motion planning software. I am developing a package for the ROS, in fact, it is a package of resources/models for the Gazebo, and I need with the presence of this package in the Workspace of Catkin to automatically set the variable GAZEBO_MODEL_PATH for this package. roscp Copy a le from one place to another. Mobile workspace technology describes a set of software and services that deliver corporate apps, files and services to a user on any device and over any network. If you installed ROS from a package manager like apt, then those packages will not be write accessible and should not be edited by you the user. Packages without a build_type tag are assumed to be catkin packages. In this workspace, you will put all the things related to this particular project. This leads to similar ROS_PACKAGE_PATH variables which list each package source space. Uninstalling Source-based Install If you need to uninstall Gazebo or switch back to a debian-based install of Gazebo when you currently have installed Gazebo from source, navigate to your source code directory's build folders. The easier and faster is installing it from packages but installing from source means you can more easily debug and submit bug patches ;-) A. The following ROS packages are included by default in the shipped ROS package. in ROS 1 a package needs to depend on roscpp where as in ROS 2 it needs to depend on rclcpp. Indicating we are on the indigo-devel branch which we can assume is the branch appropriate for the ROS Indigo distribution. 4 ~ 4 Note: We have ROS version Jade in both the computer and the laptop – there shouldn’t be too much differences yet, but nonetheless I should have informed you all earlier. adding / Linking GTSAM with ROS After downloading the gtsam from their website and successfully compiling it. Workspaces are simply directories to store all of your packages. Next we will need to setup a workspace in order to build and source this overlaid package. xml file to the root of their source tree with the build_type flag set to cmake and appropriate build_depend and run_depend tags set, as described in REP-0136. This tutorial covers the toolchain to build a package. catkin_create_pkg your_package_name rospy ‘catkin_create_pkg’ is the command for creating the new package. It is easy to miss steps when going through the ROS installation tutorial. To add a module overview image to your module: Log into Moodle and Navigate to your module by choosing it from the dashboard or by searching for it (via Site Home on the navigation menu). ROS parameters are quite useful to set global settings for your application. ROS nodes and Gazebo model for NVIDIA JetBot with Jetson Nano - dusty-nv/jetbot_ros. Give a name for this project as hello_world and browse the ROS package from the catkin workspace as shown in the following screenshot:. In addition, each package will contain two files: CmakeLists. Overlaying with a catkin Workspace. In order to build the core packages, you will need a catkin workspace. Use the signatures to verify the authenticity of our packages. cpp and listener. ROS MoveIt Robotic Arm: This is going to be a series of articles about making a robotic arm controlled with ROS(Robotic Operating System) and MoveIt. The ROS framework is compatible with a short list of Linux distributions. The first time you open the workspace the extension will automatically create build and test tasks and update the C++ and Python paths. There is a convenience script to install a Catkin Workspace, which is a tool support environment for ROS. ROS production: our prototype [2/5] by Kyle Fazzari on 13 April 2017. For example, if you read a message in your desktop's email app, it shows as read on your phone, too. Make the Package. In this tutorial we'll walk through creating a very basic Gazebo plugin that is ROS-aware. Create a catkin Workspace. How can I export the package in catkin workspace to a. … - Selection from ROS Programming: Building Powerful Robots [Book]. To debug, check ping from each side to the other, run roswtf on each side. Building Packages. Building a ROS Package. I'm working on ROS hydro ,Ubuntu 12. を使ってros_package_pathに今回作成するパッケージのパスを追加しておく。 $ source devel/setup. rosinstall and add their local-name to the ROS_PACKAGE_PATH, unless the path is detected to be ros, in which case it will be set to ROS_ROOT. Kinetic was released early last year and is compatible with Ubuntu Mate 16. I downloaded gtsam-2. Checking out the source code (wstool) If you're using wstool, add this repository to your wstool workspace:. dotnet add package ros-catkin-tools --version 0. catkin_create_pkg your_package_name rospy. ROS MoveIt Robotic Arm: This is going to be a series of articles about making a robotic arm controlled with ROS(Robotic Operating System) and MoveIt. Conclusion. ROS has a huge number of packages (over 1700) to choose from, this script provides an outline for installation. Note: the order for those two lines is very important. This will clone the package into the catkin workspace. You just clipped your first slide! Clipping is a handy way to collect important slides you want to go back to later. Watch Queue Queue. If rosdep fails to resolve some of the dependencies, that probably means that they are ROS packages that you don't have in your kinetic workspace. Installing tf2_web_republisher on ROS Kinetic We can install the tf2_web_republisher package by following these steps: First, switch to your ROS catkin workspace and clone the package code using the following. Packages without a build_type tag are assumed to be catkin packages. xml file provides meta information about the package. Creating a Package ROS code is organized in packages → To start developing with ROS we need a package within our catkin workspace The simplest possible package might look like this: my_package/ CMakeLists. … - Selection from ROS Programming: Building Powerful Robots [Book]. You must build the catkin workspace at least once before the extension will recognise it. Use ros_catkin_ws only to add new packages to the existing ROS distribution (see below). The c++ copy function that was being used to copy the payload from mavlink message to ros message was copying bytes inconsistently due to which my. It generates. dox, and Makefiles. But when I try to add the "#include "seds/**. To add our catkin_ws to the ROS file path follow the following instructions. First you need to create a folder, where your workspace will be located. Add your Workspace Email account to Outlook for iPhone. Im only just starting to get head round sharing dashboards, user groups etc. Make the Package. This enables ROS users to use ARToolkit through a ROS messaging interface. bashrc file, which will ensure ROS can find your catkin workspace: First make a new package in your catkin workspace and cd into it:. What I recommend: create a /config folder inside your package. It is necessary that the ROS package containing the two nodes to be included in the workspace directory. This amends the manifest to support this use case. Tell dependent packages what headers or libraries to pull in when your package is declared as a catkin component. roscp Copy a le from one place to another. Assuming you are inside the home directory, 4. They cover the ROS Melodic release. How to create a workspace, a package and write programs with ROS? This course is the right place to address all the questions about ROS2. Clone the package. mkdir ~/ros101. 1 Creating a workspace A workspace is a collection of packages that are built together. Linear and Non-Linear using ROS - Paper Useful Links - MAVROS Changing hector package environment trick. Where catkin workplace name is the name of the catkin_workspace to place the RealSense ROS package. Create Custom Messages from ROS Package. Build as usual (e. 1 (2019-02-07) Add COLCON_PREFIX_PATH env hook. You’ll see how to handle params with both rospy and roscpp. Add the custom executable. When moving packages or workspaces to another directory/workspace you should probably clean the build completely and rebuild. ROS uses the catkin tool to build all code in a workspace, and do some bookkeeping to easily run code in packages. When working with ROS packages from source or when creating a new ROS package, you should always work in a directory that you have access to, like your home folder. I migrating the rosbuild package in catkin package and add into my catkin workspace. In order to build the core packages, you will need a catkin workspace. To add it as a test within your test suite, you’ll need to make a few changes to your package: Add ament_mypy as a test dependency in your package. The next step is to create a catkin workspace. This includes storing your URDF files in ROS packages and keeping your various resource paths relative to your ROS workspace. dox, and Makefiles. Your targets don't need to be unique across the entire ROS ecosystem, as the resulting binaries ultimately go in per-package directories, but they must be unique within the workspace. /src/ament/ament_tools/scripts/ament. When I try running the code in my catkin workspace with roscore running, it canno. In this workspace, we will centralize all the code used throughout this section. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks. Once you have ROS installed, make sure you have the most up to date packages:. roscd to a package in ROS launch file. -Because your workspace is one big CMake project, all the targets shared between packages exist in the same namespace. This tutorial explains how to control the status LEDs from Erle-Brain 2 with the Robot Operating System (ROS). Then you can write your own node. Launch files are of the format. The following ROS packages are included by default in the shipped ROS package. com/ros-industrial/ros_qtc_plugin. Then, following the steps in ROS Wiki to build the package using catkin_make, after the package is built, I insert the command rospack find packagename, and my package is not found anymore. 0 (2018-11-14) Set default environment hooks for PATH, PYTHONPATH, and LD_LIBRARY_PATH. We are sorry!. ROS QT Creator Plugin Tutorial Creating a Catkin Workspace https://github. h" " in the. in this video we create a Ros package ,workspace using qt creator IDE. Also disable the default one to avoid any potential package naming conflicts. The next step is to create a catkin workspace. I created a ROS workspace following the Wiki page from ROS. bash of the corresponding workspace is sourced. The navigation stack is where the real magic happens when it comes to navigating with a ROS robot. add workspace marker file for catkin_make / catkin_make_isolated allow better performance for repeated invocations of find_in_workspaces() consider test_depends for topolocial order support setting \${PROJECT_NAME}_LIBRARIES before invoking catkin_package() fixes: fix rollback of environment when workspace has been deleted. Hapara Workspace. Working with ROS topics Adding custom msg and srv files A ROS distribution is a versioned set of ROS packages. The official name for workspaces in ROS is catkin workspaces. … - Selection from ROS Programming: Building Powerful Robots [Book]. Enter your workspace’s Slack URL. This package is a template for a ROS nodelet package depending on another C++ library package for implementation details. In today's videos we are going to see how to create a catkin workspace. Give a name for this project as hello_world and browse the ROS package from the catkin workspace as shown in the following screenshot:. How To Install ros-indigo-desktop-full on Linux Ubuntu One month ago, I wrote a post with all the reasons that should make you use ROS to design and build robots. mkdir ~/ros101. Prerequisites. Arguments passed to this verb can temporarily override persistent options stored in the catkin profile config. Each package is built in a special environment which is loaded from the current workspace and any workspaces that the current workspace is extending. For ROS 2 the package ros_workspace is needed since it provides the setup files for the workspace and therefore the environment necessary to find resources. Learn more about ros, matlab Robotics System Toolbox, Simulink, MATLAB. xml files while copying and pasting can download my working catkin workspace and extract it and take the files. About Quality of Service Settings. Plug in to your email from anywhere — smartphone, tablet, Web browser, desktop client — and have what you do on one device automatically show up on all. You can use CLion as an IDE for your ROS projects. The main part of the implementation should go into this package and be independent from ROS. Key Features Workspace ONE Intelligence provides integrated insights, app analytics, and powerful automation across your entire digital workspace. This is possible since the catkin program will symbolically link the build products into the devel space , and stores a list of these links. Your package architecture will look like this:. Inside the 'devel' folder you can see that there are now several setup. Your goal is to create your first ROS node: First you need to create a package inside your catkin workspace. With now divided into and , that problem gets worse. There are many ways to start Gazebo, open world models and spawn robot models into the simulated environment. ROS provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. 2 CHAPTER 1. Adjust using rqt_logger_level and monitor via rqt_console. A major change with this release is the deprecation of the build system rosbuild in favor of a new build system, catkin. rospd/rosd Pushdequivalent forROS. Before continuing remember to source your environment setup file if you have not already (on the provided images, this is done in the. com/ros-industrial/ros_qtc_plugin. Creating a New ROS Package. When working with ROS packages from source or when creating a new ROS package, you should always work in a directory that you have access to, like your home folder. Build ROS AirSim package Change directory to your top level catkin workspace folder i. ROS parameters are quite useful to set global settings for your application. Is there a way to distribute a ROS package without sharing the sources? I just want the user to be able to run the ROS nodes without dependencies problems. Now we want to create our own package and our own node to do what we want to do. -Because your workspace is one big CMake project, all the targets shared between packages exist in the same namespace. I am currently new to ROS and working on a fairly simple project: A mobile robot running ROS on an ARM64 Odroid C2. We are adding some common hardware components, What Can Studio Do? Create and manage ROS workspace Built-in ROS package management —— Convenient. Your goal is to create your first ROS node: First you need to create a package inside your catkin workspace. Then, following the steps in ROS Wiki to build the package using catkin_make, after the package is built, I insert the command rospack find packagename, and my package is not found anymore. If using the catkin_make, however, it does add only the root/source path of the workspace, as i expected initially. I am trying to run python code in ROS and it includes a module (module not made for ROS) that I had to pip install. When moving packages or workspaces to another directory/workspace you should probably clean the build completely and rebuild. Indicating we are on the indigo-devel branch which we can assume is the branch appropriate for the ROS Indigo distribution. ROS INSTALLATION Andnow,makesureyourDebianpackageindexisup-to-date: $ sudo apt-get update Lets proceed to install ROS, the Desktop-Full Install is. ROS Node Note. Add AirSim ROS node examples to ROS package. This video is unavailable. The following files demonstrate how to create a simple ROS-Isaac bridge codelet. 04 So, briefly my questione are: How to move packages into another workspace? How to move the entire workspace with all its packages? How to remove a package? How to remove an entire workspace? Thanks in advance. Click on the Actions menu (Cog symbol – Top right) then click Edit settings; In the settings menu, scroll down to the Module summary files dialog box. Linear and Non-Linear using ROS - Paper Useful Links - MAVROS Changing hector package environment trick. It assumes you have already gone through the installation process shown in. Objective: – ROS architecture: Master, nodes, topics, messages, services, parameters and actions – Console commands: Navigating and analyzing the ROS system and the catkin workspace – Creating ROS packages: Structure, launch-files, and best practices – ROS C++ client library. (This will also compile any necessary code in the package. The main part of the implementation should go into this package and be independent from ROS. For removing a workspace: Just delete it (there are no other traces). The package ament_mypy within handles mypy integration. Our workspace, ros2_examples_ws, will be an overlay on top of the existing ROS 2 installation. Create ROS package. The msg folder contains all your custom message type definitions. Im only just starting to get head round sharing dashboards, user groups etc. For a package to be considered a catkin package it must meet a few requirements: The package must contain a catkin compliant package. In today’s videos we are going to see how to create a catkin workspace. xml file also lives), not the one at the top of your catkin workspace. 2 CHAPTER 1. ROS uses the catkin tool to build all code in a workspace, and do some bookkeeping to easily run code in packages. The Packages configuration is where you'll manage everything related to the packages (Apps) you make available to your users. ROS Workspace and Packages – Week II Refer to: Martinez’s Learning ROS Chap. Installing on Ubuntu with apt-get¶. If you are confident that your workspace's environment is not changing during a build, you can tell catkin build to cache these environments with the --cache-env option. A catkin workspace is a directory (folder) in which you can create or modify existing catkin packages. This website uses cookies to ensure you get the best experience on our website. Installing into a multiarch dir when specifying a non-standard Debian package root appears to. This should work with wet, dry-on-wet, dry-after-wet and wet-after-dry use-cases (wet=catkin, dry=rosws). Alternatively, rosws (ROS Workspace) provides a systematic method for managing package overlays in a user's workspace. Kinetic was released early last year and is compatible with Ubuntu Mate 16. Package_name and node_type are names of package and node that you want to run. This tutorial covers the toolchain to build a package. This workspace is called ros_catkin_ws. This can be done by navigating to the ~/ros101/src directory, which you should have already done in the last step. Keep in mind that the screenshot was edited to show a short list of files; the real package has more: The workspace. Make the Package. Watch Queue Queue. This post is a brief account of how to compile a QT GUI as part of a ROS catkin package. Kinetic was released early last year and is compatible with Ubuntu Mate 16. * Drop setting multiarch library by default. … - Selection from ROS Programming: Building Powerful Robots [Book]. This article will cover the process of installing ROS Melodic Morenia on Raspberry Pi 4 running the latest Debian Buster and how to use RPLIDAR AIM8 with our installation. Add --no-deps to skip dependencies. ROS 2 Overview. Objective: – ROS architecture: Master, nodes, topics, messages, services, parameters and actions – Console commands: Navigating and analyzing the ROS system and the catkin workspace – Creating ROS packages: Structure, launch-files, and best practices – ROS C++ client library. For example, if you read a message in your desktop's email app, it shows as read on your phone, too. On one hand. There are many ways to start Gazebo, open world models and spawn robot models into the simulated environment. The ROS framework is compatible with a short list of Linux distributions. Tutorial: Ros Plugins. ROS build system: The build system is responsible for building the target executable or library from the raw source code inside an ROS package. In the previous post we discussed why Ubuntu Core was a good fit for production robotics. We will next overlay the ros-tutorials debian with the same packages but from from source in a workspace. Using roslaunch to Open. This package is a template for a ROS nodelet package depending on another C++ library package for implementation details. Create a catkin Workspace. ←Home About Twitter Handling Go workspace with direnv June 28, 2015. Then you can send and receive business emails from your phone. Downgrade my email account plan: Decrease to only one email address and less storage. But before we start, if you want to Learn ROS Fast, we recommend you the following courses: ROS In 5 Days (Python) ROS In 5 Days (C++) Either you like. Since Debian Buster was officially released just a few weeks ago(as of moment of writing this article), there are no pre-built. i was completely stuck at the final step while building jetbot ros. ROS custom messages are specified in ROS package folders that contain a package. Thanks for sharing this! Saved my life with c++ codeshowever I was wondering how can I get similar autocompletions for Rospy files. First of all, we open the file "package. The ament_lint metapackage defines many common linters that can integrate into the build/test pipeline for ROS 2. ~/fuerte_workspace #common commands for building c++. After a successful installation rosinstall will iterate through each of the elements in. Our workspace, ros2_examples_ws, will be an overlay on top of the existing ROS 2 installation. The c++ copy function that was being used to copy the payload from mavlink message to ros message was copying bytes inconsistently due to which my. # This is an example, do not try to run this # catkin_create_pkg [depend1] [depend2] [depend3] 4. catkin files where each source package is listed, individually, instead of just listing the source space for the workspace. This package consists of two ROS nodes, talker. This way, the target is made local and that should solve the isolated build case/future proof-ness. Installing into a multiarch dir when specifying a non-standard Debian package root appears to. bash so ROS can find the new package. txt which uses catkin. Catkin uses CMake macros and Python script to do the building of source code inside a package. Always source the global ROS install before your catkin workspace. To use Dell Provisioning for VMware Workspace ONE , you must participate in Dell Configuration Services. Build as usual (e. ROS workspace 中可以包含若干 ROS package,每个 package 内部包含实现某些特定功能的文件。 创建 workspace. rosed Open requested ROS le in a text editor. Alternatively, rosws (ROS Workspace) provides a systematic method for managing package overlays in a user's workspace. * Drop setting multiarch library by default. This will generate a binary with the tests. Note: the order for those two lines is very important. This way, the target is made local and that should solve the isolated build case/future proof-ness. That package. If using the catkin_make, however, it does add only the root/source path of the workspace, as i expected initially. … - Selection from ROS Robotics By Example - Second Edition [Book]. Also, a ROS 2 workspace that has been built from source may build and install multiple RMW implementations simultaneously. After setting ROS on a real PC or VirtualBox, the next step is to create a workspace in ROS. ←Home About Twitter Handling Go workspace with direnv June 28, 2015. In order for the ROS system to recognize the packages in your catkin_ws, it needs to be on the ROS file path. After that you have to uncomment the add_message_files() part and add my_file. ROS FAQ; ROS Answers. Since all ROS code must be contained within a package in a workspace, this is something you'll do frequently. You can open any packages on your workspace. Contributors: Dirk Thomas; 0. In contrast catkin projects can be built together in workspaces. after 10 months I can finally announce that the first ~80 ROS Melodic packages are available on conda through the conda-forge channel. The request can be for instance the “exposure time” and the request an image message. You can se up an App workspace and add users to the workspace who can then access dashboards etc in that workspace But when you are looking at a dashboard you can also Share dashboard. The catkin structure simplifies the build and installation process for your ROS packages. I also created a package using catkin_create_pkg under the workspace I just created. Anything else will be removed and marked as spam. py node inside the src directory of package which worked fine. Robot Operative System is the de-facto standard system for running, publishing and sharing software modules for mobile robots. To start multiple nodes simultaneously use roslaunch. No GUI tools. The commands for creating the package are: cd ~/your_workspace_name_here/src. Since Debian Buster was officially released just a few weeks ago(as of moment of writing this article), there are no pre-built. You’ll see how to handle params with both rospy and roscpp. In today's videos we are going to see how to create a catkin workspace. Keeping in mind that every time downloading packages using svn, you need to enter the /ros_workspace (may differ according to your configuration, mine is /fuerte_workspace) first. To add a module overview image to your module: Log into Moodle and Navigate to your module by choosing it from the dashboard or by searching for it (via Site Home on the navigation menu). To create an Angular Workspace with no initial application we use: ng new foo --create-application=false. Here it goes an example: Let’s say a Behavior Executor Node wants to capture an image from the camera. A second workspace has been created to build Simulink models, catkin_ws. The goal of these packages it to provide this useful functionality in an easy-to-consume manner so that software can be easily reused. Now we want to create our own package and our own node to do what we want to do. Start by creating a ros_workspace directory where you prefer, in this tutorial we will create the ros_workspace in your home directory. Adjust using rqt_logger_level and monitor via rqt_console. Create Custom Messages from ROS Package In this example, you go through the procedure for creating ROS custom messages in MATLAB ® using the ROS Custom Message add-on. So I to write a ros mavlink driver package compatible with my workspace. First you must have the ROS repositories which contain the. Tutorial: Ros Plugins. All gazebo-ros plugins should check if the ROS node has already been initialized in their Load() function, as discussed in this issue. I spent the past week migrating a ROS project to the latest release, ROS Groovy. Option to add mail & package handling ($50/month) Flexible workspaces can unlock value for both your employees and your bottom line—regardless of your company size. Before using ROS 2, it’s necessary to source your the ROS 2 installation workspace in the terminal you plan to work in. Contributors: Dirk Thomas; 0. The ROS distro will automatically be confirmed from the parent environment, or you will be prompted to select a ROS distro if this can't be done automatically. Save and close the file. Indicating we are on the indigo-devel branch which we can assume is the branch appropriate for the ROS Indigo distribution. All in all, you can see that creating a catkin workspace is a two-step process: 1. The contents of a launch file must be contained between a pair of launch tags. contains the source code of catkin packages. Create Custom Messages from ROS Package. rosinstall and add their local-name to the ROS_PACKAGE_PATH, unless the path is detected to be ros, in which case it will be set to ROS_ROOT. Catkin adds a lot of features on top of vanilla CMake that make it an appealing development tool even for non-ROS related projects. The fact-checkers, whose work is more and more important for those who prefer facts over lies, police the line between fact and falsehood on a day-to-day basis, and do a great job. Today, my small contribution is to pass along a very good overview that reflects on one of Trump’s favorite overarching falsehoods. Namely: Trump describes an America in which everything was going down the tubes under  Obama, which is why we needed Trump to make America great again. And he claims that this project has come to fruition, with America setting records for prosperity under his leadership and guidance. “Obama bad; Trump good” is pretty much his analysis in all areas and measurement of U.S. activity, especially economically. Even if this were true, it would reflect poorly on Trump’s character, but it has the added problem of being false, a big lie made up of many small ones. Personally, I don’t assume that all economic measurements directly reflect the leadership of whoever occupies the Oval Office, nor am I smart enough to figure out what causes what in the economy. But the idea that presidents get the credit or the blame for the economy during their tenure is a political fact of life. Trump, in his adorable, immodest mendacity, not only claims credit for everything good that happens in the economy, but tells people, literally and specifically, that they have to vote for him even if they hate him, because without his guidance, their 401(k) accounts “will go down the tubes.” That would be offensive even if it were true, but it is utterly false. The stock market has been on a 10-year run of steady gains that began in 2009, the year Barack Obama was inaugurated. But why would anyone care about that? It’s only an unarguable, stubborn fact. Still, speaking of facts, there are so many measurements and indicators of how the economy is doing, that those not committed to an honest investigation can find evidence for whatever they want to believe. Trump and his most committed followers want to believe that everything was terrible under Barack Obama and great under Trump. That’s baloney. Anyone who believes that believes something false. And a series of charts and graphs published Monday in the Washington Post and explained by Economics Correspondent Heather Long provides the data that tells the tale. The details are complicated. Click through to the link above and you’ll learn much. But the overview is pretty simply this: The U.S. economy had a major meltdown in the last year of the George W. Bush presidency. Again, I’m not smart enough to know how much of this was Bush’s “fault.” But he had been in office for six years when the trouble started. So, if it’s ever reasonable to hold a president accountable for the performance of the economy, the timeline is bad for Bush. GDP growth went negative. Job growth fell sharply and then went negative. Median household income shrank. The Dow Jones Industrial Average dropped by more than 5,000 points! U.S. manufacturing output plunged, as did average home values, as did average hourly wages, as did measures of consumer confidence and most other indicators of economic health. (Backup for that is contained in the Post piece I linked to above.) Barack Obama inherited that mess of falling numbers, which continued during his first year in office, 2009, as he put in place policies designed to turn it around. By 2010, Obama’s second year, pretty much all of the negative numbers had turned positive. By the time Obama was up for reelection in 2012, all of them were headed in the right direction, which is certainly among the reasons voters gave him a second term by a solid (not landslide) margin. Basically, all of those good numbers continued throughout the second Obama term. The U.S. GDP, probably the single best measure of how the economy is doing, grew by 2.9 percent in 2015, which was Obama’s seventh year in office and was the best GDP growth number since before the crash of the late Bush years. GDP growth slowed to 1.6 percent in 2016, which may have been among the indicators that supported Trump’s campaign-year argument that everything was going to hell and only he could fix it. During the first year of Trump, GDP growth grew to 2.4 percent, which is decent but not great and anyway, a reasonable person would acknowledge that — to the degree that economic performance is to the credit or blame of the president — the performance in the first year of a new president is a mixture of the old and new policies. In Trump’s second year, 2018, the GDP grew 2.9 percent, equaling Obama’s best year, and so far in 2019, the growth rate has fallen to 2.1 percent, a mediocre number and a decline for which Trump presumably accepts no responsibility and blames either Nancy Pelosi, Ilhan Omar or, if he can swing it, Barack Obama. I suppose it’s natural for a president to want to take credit for everything good that happens on his (or someday her) watch, but not the blame for anything bad. Trump is more blatant about this than most. If we judge by his bad but remarkably steady approval ratings (today, according to the average maintained by 538.com, it’s 41.9 approval/ 53.7 disapproval) the pretty-good economy is not winning him new supporters, nor is his constant exaggeration of his accomplishments costing him many old ones). I already offered it above, but the full Washington Post workup of these numbers, and commentary/explanation by economics correspondent Heather Long, are here. On a related matter, if you care about what used to be called fiscal conservatism, which is the belief that federal debt and deficit matter, here’s a New York Times analysis, based on Congressional Budget Office data, suggesting that the annual budget deficit (that’s the amount the government borrows every year reflecting that amount by which federal spending exceeds revenues) which fell steadily during the Obama years, from a peak of $1.4 trillion at the beginning of the Obama administration, to $585 billion in 2016 (Obama’s last year in office), will be back up to $960 billion this fiscal year, and back over $1 trillion in 2020. (Here’s the New York Times piece detailing those numbers.) Trump is currently floating various tax cuts for the rich and the poor that will presumably worsen those projections, if passed. As the Times piece reported: