Clarification on ros-kinetic-robot metapackage GUI dependencies

asked 2016-09-03 18:28:22 -0500

updated 2016-09-04 04:25:12 -0500

gvdhoorn gravatar image

According to REP 142 there should be no GUI dependencies on the Robot metapackage (emphasis mine):

Robot metapackage

The robot metapackage is defined to be core, stable, ROS libraries for any robot hardware. It is the "general robotics" libraries of ROS. It may not contain any GUI dependencies.

Question:

When I do apt-get install ros-kinetic-robot, there are many packages being pulled in that are GUI related, such as pyside, qt, and x11.

Is the intention that you can run all the nodes without GUI interaction, although they may require some libraries from a GUI library for some other reason? (qt includes much beyond GUI, and I could see it generating images even though they cannot be displayed).

I put the full apt-get output below for reference.

Thanks!

dougbot01

Output

ubuntu@ubuntu-standard:/etc$ sudo apt-get install ros-kinetic-robot
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  fontconfig fontconfig-config fonts-liberation graphviz gstreamer1.0-plugins-base hddtemp libassimp-dev libassimp3v5 libavahi-client3 libavahi-common-data
  libavahi-common3 libcairo2 libcdparanoia0 libcdt5 libcgraph6 libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libcups2 libcurl4-openssl-dev libdatrie1
  libdouble-conversion1v5 libdrm-amdgpu1 libdrm-dev libdrm-exynos1 libdrm-freedreno1 libdrm-nouveau2 libdrm-omap1 libdrm-radeon1 libdrm-tegra0 libdrm2
  libegl1-mesa libegl1-mesa-dev libeigen3-dev libevdev2 libfontconfig1 libgbm1 libgd3 libgl1-mesa-dri libglapi-mesa libgles2-mesa libgles2-mesa-dev
  libgraphite2-3 libgstreamer-plugins-base1.0-0 libgstreamer1.0-0 libgudev-1.0-0 libgvc6 libgvpr2 libharfbuzz0b libice6 libinput-dev libinput10 libllvm3.8
  libminizip1 libmirclient-dev libmirclient9 libmircommon-dev libmircommon5 libmircookie-dev libmircookie2 libmirprotobuf3 libmtdev1 libopus0 liborc-0.4-0
  libpango-1.0-0 libpangocairo-1.0-0 libpangoft2-1.0-0 libpathplan4 libpcre16-3 libpixman-1-0 libprotobuf-dev libprotobuf-lite9v5 libprotobuf9v5 libproxy1v5
  libpthread-stubs0-dev libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqgsttools-p1 libqhull-dev libqhull7 libqt5clucene5 libqt5concurrent5 libqt5core5a
  libqt5dbus5 libqt5designer5 libqt5designercomponents5 libqt5gui5 libqt5help5 libqt5multimedia5 libqt5multimediaquick-p5 libqt5multimediawidgets5
  libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5printsupport5 libqt5qml5 libqt5quick5 libqt5quickparticles5 libqt5quicktest5 libqt5quickwidgets5
  libqt5script5 libqt5scripttools5 libqt5sql5 libqt5sql5-sqlite libqt5svg5 libqt5svg5-dev libqt5test5 libqt5webkit5 libqt5webkit5-dev libqt5widgets5
  libqt5x11extras5 libqt5x11extras5-dev libqt5xml5 libqt5xmlpatterns5 libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libshiboken-py3-2.0
  libshiboken2-dev libshiboken2.0 libsm6 libthai-data libthai0 libtheora0 libtxc-dxtn-s2tc0 liburdfdom-dev liburdfdom-headers-dev liburdfdom-model-state0.4
  liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools liburdfdom-world0.4 liburiparser1 libvisual-0.4-0 libvpx3 libwacom-bin libwacom-common libwacom2
  libwayland-client0 libwayland-cursor0 libwayland-dev libwayland-egl1-mesa libwayland-server0 libx11-dev libx11-doc libx11-xcb-dev libx11-xcb1 libxau-dev
  libxaw7 libxcb-dri2-0 libxcb-dri2-0-dev libxcb-dri3-0 libxcb-dri3-dev libxcb-glx0 libxcb-glx0-dev libxcb-icccm4 libxcb-image0 libxcb-keysyms1
  libxcb-present-dev libxcb-present0 libxcb-randr0 libxcb-randr0-dev libxcb-render-util0 libxcb-render0 libxcb-render0-dev libxcb-shape0 libxcb-shape0-dev
  libxcb-shm0 libxcb-sync-dev libxcb-sync1 libxcb-util1 libxcb-xfixes0 libxcb-xfixes0-dev libxcb-xkb1 libxcb1-dev libxdamage-dev libxdamage1 libxdmcp-dev
  libxext-dev libxfixes-dev libxfixes3 libxi6 libxkbcommon-dev libxkbcommon-x11-0 libxkbcommon0 libxmu6 libxpm4 libxrender1 libxshmfence-dev libxshmfence1
  libxslt1.1 libxt6 libxxf86vm-dev libxxf86vm1 pyqt5-dev python-pycurl python-pyqt5 python-pyqt5.qtsvg python-pyside2 python-pyside2.qtconcurrent
  python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml
  python-pyside2.qtquick python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg python-pyside2.qttest
  python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml
  python-sip python-sip-dev python-urlgrabber qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev qtchooser qtdeclarative5-dev
  qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev qttools5-dev qttools5-dev-tools qttools5-private-dev qttranslations5-l10n
  ros-kinetic-angles ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-control-msgs ros-kinetic-diagnostic-aggregator
  ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostic-updater ros-kinetic-diagnostics
  ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-geometric-shapes
  ros-kinetic-geometry ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-octomap ros-kinetic-orocos-kdl
  ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot-model
  ros-kinetic-robot-state-publisher ros-kinetic-self-test ros-kinetic-smach ros-kinetic-smach-msgs ros-kinetic-smach-ros ros-kinetic-tf
  ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros ros-kinetic-urdf
  ros-kinetic-urdf-parser-plugin ros-kinetic-xacro shiboken2 sip-dev x11-common x11proto-core-dev x11proto-damage-dev x11proto-dri2-dev x11proto-fixes-dev
  x11proto-gl-dev x11proto-input-dev x11proto-kb-dev x11proto-xext-dev x11proto-xf86vidmode-dev xorg-sgml-doctools xtrans-dev zlib1g-dev
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Comments

My guess is they mean "no ROS GUI dependencies"

spmaniato gravatar imagespmaniato ( 2016-09-04 04:00:15 -0500 )edit