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add velodyne_pointcloud as a dependancy to a package

asked 2019-05-17 09:39:00 -0600

hachbani gravatar image


I'm new at ROS, Im working on a LiDAR project, I downloaded a project of a segmentation algorithme for 3D point clouds. The first question is I don't know in which repository I should paste the folder project. Second question: I see on the CMAKELISTS file that the node has velodyne_pointcloud as dependency. How can I add it ?

Thanks everyone

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answered 2019-05-21 01:41:46 -0600

pavel92 gravatar image

Create a catkin workspace and in the src directory under it clone the project and the velodyne_pointcloud package. Since the project and driver packages depend on pcl and velodyne packages you will need to install them. You can see exactly on which packages the project depend in their package.xml files. These packages you can install using the sudo apt install command:

sudo apt install ros-kinetic-pcl-ros
sudo apt install ros-kinetic-pcl-conversions
sudo apt install ros-kinetic-velodyne-driver
sudo apt install ros-kinetic-velodyne-driver
sudo apt install ros-kinetic-velodyne-msgs

ass well as other packages listed in the package.xml.

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This is an OK answer, but please don't use apt to install dependencies manually. There are tools for this and they should be used.

Refer to the part about rosdep update and rosdep install in #q252478.

Being able to automate dependency resolution and management is one of the major rationales behind having a package.xml.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-21 02:53:28 -0600 )edit

Yeah I agree. I just wanted to point out the major dependencies when dealing with point-clouds. As you suggested, the proper way would be to utilize rosdep to automatically install the dependencies:

rosdep install --from-paths path_to_ws/src --rosdistro=kinetic -i -y -r
pavel92 gravatar image pavel92  ( 2019-05-21 03:11:36 -0600 )edit

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Asked: 2019-05-17 09:39:00 -0600

Seen: 354 times

Last updated: May 21 '19