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Catkin Tools: How to include source file from another package?

asked 2015-09-07 09:48:57 -0500

Nap gravatar image

[Ubuntu 14.04, ROS Hydro, Catkin Tools]

I have a number of packages in my source tree and catkin_make successfully builds all of them, but takes a long time. So whilst I'm continuing with my developments, I'm using catkin build instead.

The package I'm trying to build with catkin tools (package3) has a couple dependencies (package1 & package2) which are successfully built. package3 itself, however, fails because the ${package2_SOURCE_DIR} variable returns an empty string and the source file I need from package2 can't be located. The associated header files are found successfully because ${package2_INCLUDE_DIR} mentions the correct path (along with a number of other paths). I'm not sure why _INCLUDE_DIR is working, but _SOURCE_DIR isn't.

What I've discovered is that under catkin_make, CMake variables are global across the whole build. (Though this might not be an entirely correct statement.) Under catkin build, package variables are kept local (even when I use find_package(package2)).

I would like to avoid hard coding an absolute path into my add_executable() statement, but I don't know how to get the <package_name>_SOURCE_DIR for package2. My add_executable() statement, which works with catkin_make is:

add_executable(programA
    /src/programA.cpp
    ${Package2_SOURCE_DIR}/src/common.cpp
)

Is there a variable I can use that points to the catkin workspace? I don't mind using a line like:

${catkin_ws_BASE_DIR}/src/package2/src/common.cpp

Anyone able to help me solve this in an elegant way?

Cheers,
Nap

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Have you tried ${Package2_DIR} (note: not SOURCE_DIR)?

Felix Duvallet gravatar image Felix Duvallet  ( 2015-09-07 10:02:34 -0500 )edit

${package2_DIR} returns: "/home/me/catkin_ws/devel/share/package2/cmake"

Nap gravatar image Nap  ( 2015-09-07 10:39:41 -0500 )edit

1 Answer

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answered 2015-09-07 10:07:02 -0500

gvdhoorn gravatar image

updated 2015-09-07 11:04:16 -0500

Anyone able to help me solve this in an elegant way?

Do you have a reason for wanting to directly include src files from package2 into programA?

We normally (not just in ROS / with catkin) solve these kind of things by creating a library in package2, making sure package2/include is on the include path of whatever pkg programA is in, and then linking libpkg2 to programA.

I would consider using libraries like this an elegant way.


Edit:

Whilst your suggestion is fine, it's not the way we handle this kind of situation in our Lab, when using our own build system. Catkin/CMake is not our preferred tool chain. With that in mind, I prefer to reference it in the other package than create a duplicate.

Well, I must say that I wouldn't put recompiling source files for every target under elegant, but just to answer your question:

it would appear the variable <pkg_name>_SOURCE_PREFIX contains the path your are looking for. I haven't used this myself, and afaict it is undocumented (which means it may stop working / be removed at any time), but it should get you what you are after. Note that you must've find_package(..) the pkg first, or have included it in a find_package(catkin .. COMPONENTS ..) call.

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Thanks gvdhoorn. Whilst your suggestion is fine, it's not the way we handle this kind of situation in our Lab, when using our own build system. Catkin/CMake is not our preferred tool chain. With that in mind, I prefer to reference it in the other package than create a duplicate.

Nap gravatar image Nap  ( 2015-09-07 10:46:26 -0500 )edit

Thanks, <pkg_name>_SOURCE_PREFIX worked. Would you be so kind as to provide a link to the page where you found that info?

Nap gravatar image Nap  ( 2015-09-07 11:08:08 -0500 )edit

As I said, the variable is undocumented. I found it by searching a devel and build space.

What you are doing is also really not recommended (it's brittle). See catkin_tools/issues/83 for some discussion and also an alternative.

gvdhoorn gravatar image gvdhoorn  ( 2015-09-07 11:39:30 -0500 )edit

A package A should never depend on the source directory of package B. E.g. you won't be able to release these packages because B has been built and installed and afterwards the source folder has been removed before A is being compiled.

Dirk Thomas gravatar image Dirk Thomas  ( 2015-09-07 12:29:11 -0500 )edit

As @gvdhoorn suggested you should either build a library and install the headers or if you really don't want to do that install the source files and compile them in the downstream packages.

Dirk Thomas gravatar image Dirk Thomas  ( 2015-09-07 12:30:07 -0500 )edit

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Asked: 2015-09-07 09:48:57 -0500

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Last updated: Sep 07 '15