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With resource-constraint embedded platforms, building off target and then transferring binaries is much more common and scalable.

According to gvdhoorn's approach, I found a workaround of package installation in building off-target. I clone the package or package set into an empty workspace's src subdirectory and then build it with simple catkin_make install. After that I have install subdirectory which contains a set of files required to run the package. Due to ROS control system peculiarities it is enough to copy the contents of install directory onto the directory in which ROS was installed. Now rospack list shows the package and one able to use it.