Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Running rosjava node from launchfile

asked 2012-05-22 04:07:13 -0500

Markus Eich
202 ●14 ●20 ●24

Dear all,

I try to run my rosjava node from within a launchfile. My launchfile looks like this

 <launch>
 <master auto="start"/>
 <node pkg="rosjava_cylinder_reasoner" type="rosjava_cylinder_reasoner"  name="cylinder_reasoner" args="de.dfki.reasoner.Service" 
 respawn="false" output="screen"/>

The problem is that there are two generated wrapper scripts (generated from gradle) which execute the node, one is in build/install/... one is in build/scripts/. Per default roslaunch wants to execute the script in /scripts/ which results in an error because the relative path to lib (the classpath) is not set. The only solution I found so far is to delete the wrapper script from the /build/scripts/ directory. Is there any other solution to point roslaunch to the right wrapper script?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-07-27 11:03:36 -0500

piyushk
2861 ●31 ●49 ●76 http://cs.utexas.edu/~piyushk

updated 2012-07-27 12:42:29 -0500

I am using the following Makefile in my rosjava package.

SOURCES=$(shell find src/main -name *.java)
PACKAGE=<PACKAGE-NAME>

all: installed

installed: $(SOURCES)
    `rosstack find rosjava_core`/gradlew installApp
    mkdir -p bin
    ln -sf ../build/install/$(PACKAGE)/bin/$(PACKAGE) bin/execute
    chmod a+x bin/$(PACKAGE)
    touch installed rospack_nosubdirs

clean:
    `rosstack find rosjava_core`/gradlew clean
    rm -rf bin installed rospack_nosubdirs

To use this Makefile, you'll have to manually replace PACKAGE-NAME once. You can then use "execute" as the node type.

This solution isn't exactly pretty, but works effectively well. It also allows for rosmake/make to build the package as well. I am also interested if there are any other better solutions around.

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2012-05-22 04:07:13 -0500

Seen: 454 times

Last updated: Jul 27 '12

Running rosjava node from launchfile edit

1 Answer

Question Tools

Stats

Related questions

Running rosjava node from launchfile