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How to compile/execute ROS with modified source code

asked 2017-04-12 16:15:58 -0500

corcorant gravatar image

updated 2017-04-13 10:49:19 -0500

Good afternoon,

I am in the process of creating a custom version of rosout. I have successfully followed the tutorial to install ros from source, and have a modified version of the rosout.cpp file. I am not sure how to integrate this into ros's prebuilt compiling mechanism "catkin_make_isolated".

What I have:

  • makefile(.ccp -> exe)
  • rosout.cpp
  • rosout.exe

What I need:

A way to permanently integrate the new rosout file into ros. I curretly have a workaround to test, but cannot figure out how to properly add my rosout file to roscore.

Is there a directory that I could just drop the rosout executable into? If I do that are there other variables that need to be set?

Thank you!

Edit: I can place the executable in ~/ros_catkin_ws/install_isolated/lib/rosout/ and everything works fine, but I am looking for the proper method of accomplishing this rather than a workaround. I am guessing there is a makefile/cmakefile but I cannot find the correct one.

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You have rosout.exe? Are you using Windows?

ahendrix gravatar image ahendrix  ( 2017-04-12 22:20:09 -0500 )edit

No, ubuntu, I compiled rosout manually into a program file. This was a temporary solution for development.

corcorant gravatar image corcorant  ( 2017-04-12 23:32:32 -0500 )edit

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answered 2017-04-26 18:11:18 -0500

corcorant gravatar image

I figured out my problem, so I will update here for anyone who comes across this.

Since I was able to compile rosout.cpp into an executable, all I needed to do was replace the pre-existing rosout.exe with the version I modified and compliled. This file is located by default in opt/ros/indigo/lib/rosout(non-source ros). I didn't realize I had access to the exectables in non-source versions of ros, with this information I was able to complete my build.

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A cleaner solution would be creating an overlay catkin workspace, building there core packages you need and sourcing its devel/setup.bash after the main distribution setup.bash

spooner-dev gravatar image spooner-dev  ( 2017-04-28 07:07:00 -0500 )edit

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Asked: 2017-04-12 16:15:58 -0500

Seen: 204 times

Last updated: Apr 26 '17