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 | 1 | initial version |
In ROS 2 packages are found using the .ament resource index (design doc here). First there needs to be a marker file in the packages folder.
Second, I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
The package resource_retriever is used by other packages to resolve package:// URIs. It calls ament_index_cpp::get_package_share_directory(). That's implemented here. In short, it returns a string like <package prefix>/share/<package_name>.
In your example I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
How to create a marker file depends on the build type in the package.xml
<export>
<build_type>...</build_type>
</export>
ament_cmake packages automatically install the marker file. You only need to call ament_package().
It happens inside ament_package(), but not in a straightforward way. It invokes extensions, which calls an extension ament_cmake_index_package_hook() because ament_cmake_core registered it with itself, which ultimately calls ament_index_register_package(). I don't know why ament_package() goes through the extensions instead of calling ament_index_register_package() directly.
I don't know of a plain CMake package example to link to, but this should work.
Create an empty file with the same name as your package (example below assumes it's in a folder called resource adjacent to your CMakeLists.txt), then install it to share/ament_index/resource_index/packages/resource.
install(FILES resource/my_package_name
DESTINATION share/ament_index/resource_index/packages/resource
)
Python packages install the markerfiles themselves.
Create an empty file with the same name as your package in the repo, then install it using the data_files argument of setup().
data_files=[
('share/' + package_name, ['package.xml']),
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
],
q367328
| | 2 | No.2 Revision |
In ROS 2 packages are found using the .ament resource index (design doc here). First there needs to be a marker file in the packages folder.
Second, I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
The package resource_retriever is used by other packages to resolve package:// URIs. It calls ament_index_cpp::get_package_share_directory(). That's implemented here. In short, it returns a string like <package prefix>/share/<package_name>.
In your example I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
How to create a marker file depends on the build type in the package.xml
<export>
<build_type>...</build_type>
</export>
ament_cmake packages automatically install the marker file. You only need to call ament_package().
It happens inside ament_package(), but not in a straightforward way. It invokes extensions, which calls an extension ament_cmake_index_package_hook() because ament_cmake_core registered it with itself, which ultimately calls ament_index_register_package(). I don't know why ament_package() goes through the extensions instead of calling ament_index_register_package() directly.
I don't know of a plain CMake package example to link to, but this should work.
Create an empty file with the same name as your package (example below assumes it's in a folder called resource adjacent to your CMakeLists.txt), then install it to share/ament_index/resource_index/packages/resource.
install(FILES resource/my_package_name
DESTINATION share/ament_index/resource_index/packages/resource
)
Python packages install the markerfiles themselves.
Create an empty file with the same name as your package in the repo, then install it using the data_files argument of setup().
data_files=[
('share/' + package_name, ['package.xml']),
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
],
q367328
| | 3 | No.3 Revision |
In ROS 2 packages are found using the .ament resource index (design doc here). First there needs to be a marker file in the packages folder.
Second, I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
The package resource_retriever is used by other packages to resolve package:// URIs. It calls ament_index_cpp::get_package_share_directory(). That's implemented here. In short, it returns a string like <package prefix>/share/<package_name>.
In your example I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
How to create a marker file depends on the build type in the package.xml
<export>
<build_type>...</build_type>
</export>
ament_cmake packages automatically install the marker file. You only need to call ament_package().
It happens inside ament_package(), but not in a straightforward way. It invokes extensions, which calls an extension ament_cmake_index_package_hook() because ament_cmake_core registered it with itself, which ultimately calls ament_index_register_package(). I don't know why ament_package() goes through the extensions instead of calling ament_index_register_package() directly.
I don't know of a plain CMake package example to link to, but this should work.
Create an empty file with the same name as your package (example below assumes it's in a folder called resource adjacent to your CMakeLists.txt), then install it to share/ament_index/resource_index/packages/resource.
install(FILES resource/my_package_name
DESTINATION share/ament_index/resource_index/packages/resource
)
Python packages install the markerfiles themselves.
Create an empty file with the same name as your package in the repo, then install it using the data_files argument of setup().
data_files=[
('share/' + package_name, ['package.xml']),
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
],
@q367328
| | 4 | No.4 Revision |
In ROS 2 packages are found using the .ament resource index (design doc here). First there needs to be a marker file in the packages folder.
Second, I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
The package resource_retriever is used by other packages to resolve package:// URIs. It calls ament_index_cpp::get_package_share_directory(). That's implemented here. In short, it returns a string like <package prefix>/share/<package_name>.
In your example I assume you're doing an isolated build with colcon (which is the default), in which case your package's install prefix is install/package_name. Add another share and package_name and the URI package://package_name/meshes/file.stl should resolve to install/package_name/share/package_name/meshes/file.stl, which means it should have been installed to share/package_name/meshes.
How to create a marker file depends on the build type in the package.xml
<export>
<build_type>...</build_type>
</export>
ament_cmake packages automatically install the marker file. You only need to call ament_package().
It happens inside ament_package(), but not in a straightforward way. It invokes extensions, which calls an extension ament_cmake_index_package_hook() because ament_cmake_core registered it with itself, which ultimately calls ament_index_register_package(). I don't know why ament_package() goes through the extensions instead of calling ament_index_register_package() directly.
I don't know of a plain CMake package example to link to, but this should work.
Create an empty file with the same name as your package (example below assumes it's in a folder called resource adjacent to your CMakeLists.txt), then install it to share/ament_index/resource_index/packages/resource.
install(FILES resource/my_package_name
DESTINATION share/ament_index/resource_index/packages/resource
)
Python packages install the markerfiles themselves.
Create an empty file with the same name as your package in the repo, then install it using the data_files argument of setup().
data_files=[
('share/' + package_name, ['package.xml']),
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
],
https://answers.ros.org/question/367328/
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