Hi all,

I'm trying out the Matlab Simulink Robotics Systems Toolbox and I'm getting a circular dependency error when I try and build. All I'm doing is subscribing to a sensormsgs topic and then publishing the same message on a normal stdmsgs topic. Even when I try and build just this ROS node on it's own with no other I get the error below. What's interesting is if I change the subscribed topic to a std_msgs/float32 for example it builds fine.

CMake Error at /media/sf_ADS/build/catkin_generated/order_packages.cmake:7 (message):
  Circular dependency in subset of packages:

  rosbag, rostest, sensor_msgs, topic_tools
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:42 (include)
  CMakeLists.txt:63 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/media/sf_ADS/build/CMakeFiles/CMakeOutput.log".
See also "/media/sf_ADS/build/CMakeFiles/CMakeError.log".
Makefile:1032: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1

This is the CMakeLists.txt - is it correct?

cmake_minimum_required(VERSION 2.8.3)
project(rostest)
set(CMAKE_VERBOSE_MAKEFILE ON)

    ## Find catkin macros and libraries
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS
    roscpp
    sensor_msgs
    std_msgs
    )

    add_definitions(
    -DMODEL=ROSTest -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DONESTEPFCN=1 -DTERMFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DROS_PROJECT -DMW_SCHED_OTHER -DSTACK_SIZE=64 -DRT=RT )

    ## The catkin_package macro generates cmake config files for your package
    ## Declare things to be passed to dependent projects
    ## INCLUDE_DIRS: uncomment this if you package contains header files
    ## LIBRARIES: libraries you create in this project that dependent projects also need
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
       CATKIN_DEPENDS roscpp sensor_msgs std_msgs 
    )

    ###########
    ## Build ##
    ###########

    ## Specify additional locations of header files
    ## Your package locations should be listed before other locations
    # include_directories(include)
    include_directories(
      include
      ${PROJECT_SOURCE_DIR}
      ${Boost_INCLUDE_DIRS}
      ${catkin_INCLUDE_DIRS}
    )

    ## Get list of .c files in project source directory
    file(GLOB ${PROJECT_NAME}_C_SOURCES RELATIVE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/*.c)

    ## Declare executable
    add_executable(rostest_node
       ROSTest.cpp
       ROSTest_data.cpp
       ert_main.cpp
       linuxinitialize.cpp
       slros_busmsg_conversion.cpp
       slros_initialize.cpp
       slros_generic_param.cpp
       ${${PROJECT_NAME}_C_SOURCES}
    )

    ## Add cmake target dependencies of the executable/library
    ## as an example, message headers may need to be generated before nodes
    # add_dependencies(beginner_tutorials_node beginner_tutorials_generate_messages_cpp)

    ## Specify libraries to link a library or executable target against
    target_link_libraries(${PROJECT_NAME}_node
       ${catkin_LIBRARIES}
       ${Boost_LIBRARIES}
       rt
    )

    set_target_properties(${PROJECT_NAME}_node PROPERTIES COMPILE_FLAGS " ")
    SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive" )
    SET( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -include stdbool.h" )

and this is the package.xml

<package>
  <name>rostest</name>
  <version>1.0.0</version>
  <description>
  This package is generated from ROSTest Simulink model.
  </description>
  <maintainer email="rosuser@test.com">ROS User</maintainer>
  <license>BSD</license>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>std_msgs</run_depend>
</package>

I don't understand enough about this yet and can't interpret the log/error file well enough.

Any help would be much appreciated!

Thanks guys