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Section 1, Package beginner_tutorial into Debian File
This tutorial assumes you have already created the ros beginner_tutorial package by following the ROS beginner tutorial(http://wiki.ros.org/ROS/Tutorials). You can also refer to the zipped package files which is beginner_tutorials.tar.gz and beginner_tutorials_cpp.tar.gz, and experiment with it.
Install Python files using deb
In the beginner_tutorials ROS package folder, the tree structure of the folder is as following:
To add the python source code files to the deb, you need to add following lines to the CMakeLists.txt:
FILE(GLOB openag_script_files "${CMAKE_CURRENT_SOURCE_DIR}/script/.")
FILE(GLOB openag_subdirectory_script_files "${CMAKE_CURRENT_SOURCE_DIR}/script/srv/.")
catkin_install_python(PROGRAMS
${openag_script_files}
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
catkin_install_python(PROGRAMS
${openag_subdirectory_script_files}
DESTINATION "${CATKIN_PACKAGE_BIN_DESTINATION}/srv")
If you don’t add the code above to the CMakeLists.txt file, your deb file do not contain the python executable files. After install the deb, the python executable files will NOT be installed on your machine.
Another alternative way of install python script files in the deb file, it is writing following macros. It has the same effect as catkin_install_python:
install(PROGRAMS
script/listener.py
script/talker.py
script/add_two_ints_client.py
script/add_two_ints_server.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(PROGRAMS
script/srv/_AddTwoInts.py
script/srv/__init__.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/srv
)
The following code block which should be placed in the CMakeLists.txt will add launch folder and launch file in the deb installable file:
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
PATTERN ".svn" EXCLUDE)
Then run the following command in the package folder to generate Debian source folder, my case is ~/ROS/catkin_workspace/src/beginner_tutorials:
$ bloom-generate rosdebian --os-name ubuntu --ros-distro kinetic
It creates Debian folder in the package folder. Then run the following command in the package folder to generate deb file:
$ fakeroot debian/rules binary
It generates the deb file, ros-kinetic-beginner-tutorials_0.1.0-0xenial_amd64.deb, in the src folder. Then you can give deb to someone to install it.
Install C++ files using deb
In the beginner_tutorials_cpp ROS package folder, the tree structure of the folder is as following:
To add build target/executable files using catkin_make, you need to add the following line to the CMakeLists.txt:
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)
To add executables to the deb file, you need add following lines to the CMakeLists.txt:
install(TARGETS talker listener add_two_ints_server add_two_ints_client
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
If you don’t add the code above to the CMakeLists.txt file, your deb file do not contain the C++ executable files. After install the deb, the C++ executable files will NOT be installed on your machine.
Then run the following command in the ... (more)
