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I have a problem with ROS installed on embedded SPARC machine from source. It is needed to integrate the geometry_msgs package and some others into our installation. Is there a general way to do that? Unfortunately, rosmake is not working on our platform due impossibility to detect OS and environment.
With resource-constraint embedded platforms, building off target and then transferring binaries is much more common and scalable.
According to gvdhoorn's approach, I found a workaround of package installation in building off-target. I clone the package or package set into an empty workspace's src subdirectory and then build it with simple catkin_make install. After that I have install subdirectory which contains a set of files required to run the package. Due to ROS control system peculiarities it is enough to copy the contents of install directory onto the directory in which ROS was installed. Now rospack list shows the package and one able to use it.
Asked: 2019-02-28 05:00:27 -0500
Seen: 424 times
Last updated: Mar 06 '19
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You tagged this
melodic, yet mentionrosmake.rosmakeis part ofrosbuild, which is the build system that was deprecated many years ago and is virtually unused on Melodic (or any recent ROS release).Can you clarify?
Also: could you provide a little more details about "integrate $pkg ..
.. into our installation"? Do you want to use new packages with an existing ROS installation (which happens to run on an embedded SPARC system)? Can you describe the ROS distribution that is currently installed on the target? Cross-compiled? Any particular framework used (OpenEmbedded, etc)?
We installed ROS Melodic on our non-standard SPARC system using limited debian-based Linux distribution. We have
aptequipped with only very limited set of packages provided by CPU manufacturer. There are no ROS packages prebuilt. We installed ROS Melodic from source usingpipandvirtualenv.After that we tried to build our own workspace that requires
geometry_msgs. And it was impossible to build it because of missing.cmakefiles fromgeometry_msgs. This is a problem because many of our packages requiregeometry_msgs. So it is desirable to integrategeometry_msgsinto systemHave you tried adding
geometry_msgsto that workspace? If that would be an acceptable solution to you, that is how you could approach it. Just make sure all the (transitive) dependencies of your pkg and their dependencies are present in the workspace. You can userosdepto check.and quite a bit of compilation I assume. ROS consists of much more than Python packages.
Also: what made you think
rosmakewas required / involved in all of this?Yes, I did. This solution is appropriate for single workspace but it is not for dozens. I think it could be very good solution to recompile .debs of shared ROS packages on our SPARC machines. Is here a tutorial to obtain .debs from source?