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Do I have to modify /opt/ros/kinetic/share/... directory in order to write global path planner plugin for navigation package?

Hi! I followed tutorials on here-> Writing A Global Path Planner As Plugin in ROS

Right now I have a trouble that some navigation packages in /opt/ros... conflicts with my packages in /catkin_ws when I am writing a global path planner plugin.

My situation is like this;

My questions are;

Thank you!

ROS: kinetic
navigation stack: latest kinetic-devel
ROSROOT=/opt/ros/kinetic/share/ros
ROS
PACKAGEPATH=/home/frl/catkinws/src:/opt/ros/kinetic/share
ROSMASTERURI=http://localhost:11311
ROSVERSION=1
ROSLISP
PACKAGEDIRECTORIES=/home/frl/catkinws/devel/share/common-lisp
ROSDISTRO=kinetic
ROS
ETC_DIR=/opt/ros/kinetic/etc/ros

Asked by Sarah on 2018-11-28 09:19:24 UTC

Comments

afaik which package is used depends on the order in which they appear in your ROS_PACKAGE_PATH. So if you use a different workspace that does not have the conflicting packages it will use the installed one.

Also, modifying packages in /opt/ros/kinetic/share is definitely not recommended.

Asked by Reamees on 2018-11-29 07:00:20 UTC

Answers