Check ROS Version in CMake File with Catkin

asked 2014-04-04 09:14:54 -0600

rtoris288
1173 ●21 ●30 ●40

updated 2016-10-24 09:02:10 -0600

ngrennan
1 ●1 ●1

Is there a way to check the version of ROS being used in the CMakeLists.txt file? i.e., are there any variables or macros to query the version?

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3 Answers

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answered 2014-04-04 13:46:25 -0600

Dirk Thomas
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updated 2014-04-04 13:46:53 -0600

The question is what you mean with "ROS version".

Each package has its own version number and they level independently. After calling find_package() to find a catkin package foo you can access the version variables for it (as it is recommended CMake standard):

${foo_VERSION}
${roscpp_VERSION_MAJOR}
${roscpp_VERSION_MINOR}
${roscpp_VERSION_PATCH}

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Great, this will do the trick!

rtoris288 ( 2014-04-07 02:01:29 -0600 )edit

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answered 2018-07-11 15:28:42 -0600

adamconkey
612 ●8 ●17 ●18 https://adamconkey.github.io/

If you want to know the distro (e.g. kinetic, lunar etc.), you can check the ROS_DISTRO environment variable, and similar to this file: you can try to look for the ROS header file if the environment variable wasn't set:

set(ROS_FOUND FALSE)
if(DEFINED ENV{ROS_DISTRO})
  set(FOUND_ROS_DISTRO $ENV{ROS_DISTRO})
  set(ROS_FOUND TRUE)
else()
  message("ROS distro variable not set. Trying to figure it out...")
  set(AVAILABLE_ROS_VERSIONS "melodic;lunar;kinetic;jade;indigo")
  set(ROS_FOUND FALSE)
  foreach(version ${AVAILABLE_ROS_VERSIONS})
    if(NOT ROS_FOUND)
      find_path(ROS_H ros.h PATHS /opt/ros/${version}/include/ros)
      if(ROS_H)
        message("Found ros version ${version}")
        set(FOUND_ROS_DISTRO ${version})
        set(ROS_FOUND TRUE)
      endif()
    endif()
  endforeach()
endif()

if(ROS_FOUND)
  if($ENV{ROS_DISTRO} STREQUAL "melodic")
    message("Using ROS Kinetic")
    # Do stuff specific to Kinetic
  elseif($ENV{ROS_DISTRO} STREQUAL "lunar")
    message("Using ROS Lunar")
    # Do stuff specific to Lunar

  # ... check other versions ...

  else()
    message("Unknown ROS distro:")
    message($ENV{ROS_DISTRO})
  endif()
else()
  message("ROS distro is unknown.")
endif()