Installing a catkin package without work space

asked 2013-12-04 07:17:08 -0500

florent-lamiraux
71 ●3 ●5 ●6

updated 2013-12-04 17:09:50 -0500

Thomas

4478 ●39 ●58 ●84 http://thomas.moulard.net/

To my understanding, catkin provides 2 different functionalities:

a way to handle dependencies between packages in the installation process and
a tool to create ROS services and messages.

As I am already using appropriate tools for 1, I wish to use catkin only for 2. In other words, I use catkin macros add_message_files, add_service_files to generate the source code relative to my services and topics, but I want to install my package in the standard way:

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=myprefix -DCMAKE_INSTALL_LIBDIR=myprefix/lib..
make install

I use CATKIN_PACKAGE_BIN_DESTINATION cmake macro as defined by REP 122 to install package relative executable and scripts.

As expected, cmake installs my executables in myprefix/lib/pkg-name with execution rights for everyone.

However, when I type rosrun pkg-name executable, i.e. rosrun dynamic_graph_bridge run_command I get the following message:

[rosrun] Couldn't find executable named run_command below /home/florent/devel/ros/install/share/dynamic_graph_bridge

when as explained before run_command is in /home/florent/devel/ros/install/lib/dynamic_graph_bridge.

my ROS_PACKAGE_PATH contains /home/florent/devel/ros/install:/opt/ros/groovy/share:/opt/ros/groovy/stacks

What did I wrong? Why does the error message seem inconsistent with REP 122?

I run groovy on ubuntu-12.04 32bits. The package can be found at http://www.github.com/stack-of-tasks/dynamic_graph_bridge.

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1

Catkin itself actually doesn't provide the macros for message and service creation—it provides the mechanism by which those other packages may inject CMake functions in at the find_package point.

mikepurvis ( 2013-12-05 00:50:14 -0500 )edit

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answered 2013-12-05 06:20:39 -0500

Dirk Thomas
16276 ●62 ●190 ●215

updated 2013-12-05 06:23:27 -0500

The ROS_PACKAGE_PATH is not sufficient to find scripts in a workspace with FHS layout.

The setup files in a catkin workspace are also defining the CMAKE_PREFIX_PATH which lists all workspace root folders. And those folders contain an empty .catkin marker file. rosrun uses these paths to identify locations where executables may be located.

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answered 2013-12-05 00:55:46 -0500

mikepurvis

1153 ●29 ●46 ●56 http://clearpathrobotics.com/

Catkin also manages the workspace setup file. Are you opposed to using the provided workspace setup?

source /home/florent/devel/ros/install/setup.bash
rosrun dynamic_graph_bridge run_command

Also, for more insight into what's going on, try checking the output of catkin_find as well.

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Thank you for your answer. I tried to source /home/florent/devel/ros/install/setup.bash without modifying any ROS_ environment variable and I get the following environment:

student@student-virtualbox:~$ env | grep ROS
ROS_ROOT=/opt/ros/groovy/share/ros
ROS_PACKAGE_PATH=/home/student/devel/sot/install/share:/home/student/devel/sot/install/stacks:/opt/ros/groovy/share:/opt/ros/groovy/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=groovy
ROS_ETC_DIR=/opt/ros/groovy/etc/ros

Unfortunately, /home/student/devel/sot/install/lib is not in ROS_PACKAGE_PATH and rosrun dynamic_graph_bridge run_command still fails.

florent-lamiraux ( 2013-12-05 04:32:44 -0500 )edit

1

It is nearly impossible to read your comment above. If you edited your question to format that information, it would be easier to help. A common cause of failures like this is having failed to source the ROS distro setup properly *before* creating the workspace. People often skip that step.

joq ( 2013-12-05 04:39:18 -0500 )edit

Hmm, not sure what else to suggest. Maybe first check that you can build the package as usual with `catkin_make` before attempting this alternative approach? Consider also updating your question with clarification about what it is you're trying to avoid and why; there may be an easier way.

mikepurvis ( 2013-12-05 07:20:23 -0500 )edit

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Installing a catkin package without work space

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