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ros2: C++ and Python in same package. Is it possible?

asked 2018-07-26 09:35:07 -0500

Anis gravatar image


In ROS1, it was possible to have Python script in any package that contains C++ or Python, but in ROS2, it seems we need separate packages for Python and C++, which I do not find practical.

Is there any reason of not having the possibility to create one package for both C++ and Python?

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answered 2018-07-26 10:06:53 -0500

sloretz gravatar image

It is possible to create a package having multiple programming languages. rclpy is a ROS 2 package containing both python and C. The same could be done with C++ and python.

In ROS 1 using catkin and calling catkin_python_setup() in a CMakeLists.txt causes a file to be called, but the CMake code has to be there even if the package has no C or C++ code. In ROS 2 a package can be pure python.

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In ROS 2 a CMake project can install Python packages and modules (see ) but it does provide a mechanism to invoke a file.

Dirk Thomas gravatar imageDirk Thomas ( 2018-07-26 11:36:15 -0500 )edit

While that could be implemented similar as it is in catkin it is fairly complex and the catkin implementation as several severe limitations. Therefore it hasn't been done until now.

Dirk Thomas gravatar imageDirk Thomas ( 2018-07-26 11:37:03 -0500 )edit

can we build demo_nodes_cpp and demo_nodes_py into one project as demo_nodes_test and run "ros2 run demo_nodes_test"(run python listener) or " ros2 run demo_nodes_test listener "(run c++ listener) ? I don't know how to install python executable with ament_cmake .

lxbeyond gravatar imagelxbeyond ( 2018-08-09 02:42:17 -0500 )edit

answered 2018-12-23 23:50:02 -0500

tanyouliang gravatar image

It can be done. I created a sample ROS2 pkg with .cpp and .py script in it, is not required in this case. Here, the CMakeLists.txt needs to be slightly modified, and an empty is used. You can refer to my sample code here:

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Asked: 2018-07-26 09:35:07 -0500

Seen: 651 times

Last updated: Jul 26 '18