Do I have to modify /opt/ros/kinetic/share/... directory in order to write global path planner plugin for navigation package?

asked 2018-11-28 08:19:24 -0600

Sarah gravatar image

Hi! I followed tutorials on here-> Writing A Global Path Planner As Plugin in ROS

Right now I have a trouble that some navigation packages in /opt/ros... conflicts with my packages in /catkin_ws when I am writing a global path planner plugin.

My situation is like this;

  • Originally installed sudo apt-get install ros-kinetic-navigation meta package.
  • I wrote a plugin. Although I did not want to mess with the /opt/ros/kinetic/share/... directory, I cloned git repository. Now there are two same packages in my PC, it conflicts.
  • If I erase individual packages by sudo apt-get remove ros-kinetic-map-server, some other related packages are erased for example "ros-kinetic-turtlebot-navigation".

My questions are;

  • Do I have to modify /opt/ros/kinetic/share/... directory in order to write global path planner plugin for navigation package?
  • (Are there a way to ignore specific packages in /opt/ros/kinetic? I want to reactivate when I am using different catkin workspace if possible.)
  • (Or, is it possible to erase meta package at once (if possible I want to keep packages outside of the navigation meta package such as ros-kinetic-turtlebot-navigation)? Also It seemed I had to type every package one by one.)

Thank you!

ROS: kinetic
navigation stack: latest kinetic-devel
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/frl/catkin_ws/src:/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=/home/frl/catkin_ws/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

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Comments

afaik which package is used depends on the order in which they appear in your ROS_PACKAGE_PATH. So if you use a different workspace that does not have the conflicting packages it will use the installed one.

Also, modifying packages in /opt/ros/kinetic/share is definitely not recommended.

Reamees gravatar imageReamees ( 2018-11-29 06:00:20 -0600 )edit