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Beginner help - indigo+stage

asked 2015-08-25 21:13:32 -0500

san gravatar image

Hello community, I am new to ros, I did the beginner tutorial and got a sense of ros and its environment. However, I am not quite sure how to build stage package which depends on stage_ros. I prefer catkin style and am not sure if stage supports catkin in indigo. I am planning to do the following, correct me if am wrong.

  1. I will check all the depends using rospack depsnds1 stage This should give me all the dependencies

  2. I will create a package in catkin_ws/src using catkin_create_pkg stage [d1] [d2] ......[dn] where d1,d2,...,dn dependencies that I got from step 1.

  3. I will add the workspace on top of ROS environment using source .~/catkin_ws/devel/setup.bash

  4. Will build then package to see no errors using cd ~/catkin_ws catkin_make

  5. Experiment with the built in nodes and will get a feel of stage environment.

  6. Write my own nodes for my application.

Thanks in advance.

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answered 2015-08-27 17:19:20 -0500

William gravatar image

There's already a stage package, which is a dependency of stage_ros. So your package, let's call it my_package, needs to depend on stage_ros if it intends to use Stage in some way. So your catkin_create_pkg call would look something like this:

catkin_create_pkg my_package stage_ros

There is no need to list stage_ros's dependencies (or to get them from rospack). You only need to declare your direct dependencies. For example you might include roscpp or sensor_msgs if your package uses those as well.

You can then use catkin_make to build your package on top of stage_ros and the other dependencies and put your own nodes in that same stage_ros package. You could model your new package off of the navigation tutorial which use stage:

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Asked: 2015-08-25 21:13:32 -0500

Seen: 141 times

Last updated: Aug 27 '15