ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Pluginlib, roscpp and catkin

asked 2012-06-04 00:08:49 -0500

Cedric gravatar image


I'm working on a transport plugin system in roscpp and I can't find out how to link roscpp directly with pluginlib. I'd like ros::init to load the transport plugins dynamically.

roscpp is built currently with catkin, and it seems like pluginlib is not providing the information that catkin is looking for. At least this is my sketchy understanding.

Would anyone have hints on how to achieve that? Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2012-06-08 12:10:17 -0500

Dirk Thomas gravatar image

pluginlib is currently still based on the rosmake-buildsystem (called dry). rospp has already been migrated to the new buildsystem catkin (called wet). Dependencies are only allowed in one direction - from dry to wet (for backward compatibility).

Therefore pluginlib needs to be catkinized to be a dependency of roscpp. Please find a patch attached to the following ticket:

Currently we are preparing to release a polished and better catkin version of the core packages. As soon as that has been pushed to public we will also release an updated pluginlib package. But since the changes to the ROS system are big we try to land them in sequence.

edit flag offensive delete link more

Question Tools


Asked: 2012-06-04 00:08:49 -0500

Seen: 317 times

Last updated: Jun 08 '12