Launch the rosjava application with the ROS Melodic version. Which method/tutorial is correct?

asked 2019-07-22 08:21:27 -0500

Dines
11 ●2 ●3 ●3

updated 2019-07-29 11:04:57 -0500

Hello. I want to develop a ROS application. I need to use Java for this. As I understand it, there is a rosjava package. But I also need to use a version of ros melodic but rosjava has not yet been ported to this version, so the deb installation is not available. There are two options left for me, as I understand from this page http://wiki.ros.org/rosjava/Tutorials... . Besides this page, I also saw http://rosjava.github.io/rosjava_core... and http://rosjava.github.io/rosjava_core... . It seems to me that I have tried all the methods of installing rosjava as well as creating and running the rosjava application. Nothing I tried helped me. There was always some mistake. So I think I need to ask this. How do I install rosjava, create an application and run it? Which path is the right one? I don't need rosrun or roslaunch for my purposes. I have to write this in java. Essentially, apart from the ros features, it should be a classic Java application with a standard maven structure and build using gradle. And have the main features that ROS provides for other languages (Message publish and subscribe, services and etc. ). I would like to provide an error message but because of several different installation methods I don't understand what is important and what is not (and what I do). I want to repeat that this application may not be a standard ros package. But I would like to see a standard java application with just ros functions. Maybe you can do it purely in Gradle? That would be great, I suppose.

P.S. Sorry about the bad English P.P.S. I'm sorry about the bad statement of the problem. I'm just tired and I don't know what I'm doing.

env | grep ROS
ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ROS_ROOT=/opt/ros/melodic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_PACKAGE_PATH=/home/denis/catkin_ws/src/mavlink:/home/denis/catkin_ws/src/mavros/libmavconn:/home/denis/catkin_ws/src/mavros/mavros_msgs:/home/denis/catkin_ws/src/mavros/mavros:/home/denis/catkin_ws/src/mavros/mavros_extras:/home/denis/catkin_ws/src/Firmware:/home/denis/catkin_ws/src/mavros/test_mavros:/opt/ros/melodic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/denis/catkin_ws/devel/share/common-lisp
ROS_DISTRO=melodic


cat /proc/version
Linux version 4.18.0-25-generic (buildd@lgw01-amd64-033) (gcc version 7.4.0 (Ubuntu 7.4.0-1ubuntu1~18.04.1)) #26~18.04.1-Ubuntu SMP Thu Jun 27 07:28:31 UTC 2019

Edit:

java -version
openjdk version "1.8.0_212"
OpenJDK Runtime Environment (build 1.8.0_212-8u212-b03-0ubuntu1.18.04.1-b03)
OpenJDK 64-Bit Server VM (build 25.212-b03, mixed mode)

Edit 2:Update links: http://rosjava.github.io/rosjava_core... One of the methods I tried to follow. The old link stopped working

answered 2019-07-25 14:11:07 -0500

jubeira

1054 ●11 ●11

Hi @Dines,

Try installing rosjava from source: http://wiki.ros.org/rosjava/Tutorials.... If you find an error when getting dependencies (rosdep install step), use -r option to continue and don't worry.

You should be able to build applications with catkin_make or with Gradle directly if you don't need any custom messages. If you want to define your own interfaces (messages / services) you should create a catkin package and apply the same CMake rules you usually would with a regular roscpp or rospy package.

Hope it helps!

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Comments

Well, I tried to do what it says. The first time I built it, it was a mistake. I didn't read it in detail, but as far as I understood it took too long to build and gradle/java gave me the error. So I tried to run the build several more times. Each time the number of errors decreased. After a few builds the error stopped changing and became this https://paste.ubuntu.com/p/GFc7skbKn7/ . [Fatal Error] package.xml:1:7: The string "--" is not permitted within comments. This line has already occurred to me in other build methods described in other sources. Can you help me?

Dines ( 2019-07-29 09:04:54 -0500 )edit

I've never seen an error like that one. The catkin plugin apparently failing is this one: https://github.com/rosjava/rosjava_bo...; I don't see the -- anywhere. Can you try building rosjava core with gradle directly? Go to rosjava_core folder and run ./gradlew build.

jubeira ( 2019-07-29 09:18:53 -0500 )edit

https://pastebin.ubuntu.com/p/zqkZcC5... The same error occurs when trying to follow the instructions described here http://rosjava.github.io/rosjava_core...

Dines ( 2019-07-29 11:02:04 -0500 )edit

What do you think I should do? Write about it in the issue on github or ask on this resource? Two different installation methods and the same problem. Thanks for your help anyway.

Dines ( 2019-07-30 18:05:52 -0500 )edit

It's a bit hard to tell. The pastebin says failed to apply plugin catkin. Try commenting / deleting that line from build.gradle and build using rosjava_core using gradlew (change the version number in allprojects block as well to the version in package.xml manually as well). Also, try using --stacktrace and --debug options when building to get more information.

jubeira ( 2019-07-31 08:31:46 -0500 )edit

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