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Two options:

  1. make your shared code a ROS package (ie: add package.xml and use catkin_package(..) in a CMakeLists.txt)
  2. install shared code "system wide" and treat it as a system dependency

My preference is always option 2, especially if the shared code does not have any ROS dependencies.

Two TwoThree options:

  1. make your shared code a ROS package (ie: add package.xml and use catkin_package(..) in a CMakeLists.txt)
  2. install shared code "system wide" and treat it as a system dependency
  3. create a "plain CMake" package (see REP-134)

My preference is always option 2, especially if the shared code does not have any ROS dependencies.