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custom ros package not detected after catkin_make

Hi guys,

I am working with openVino, and I am currently trying to integrate their sample code to ros (in a package that I called openvinotry). So I changed the code in the cpp file, adding pub and sub, I added the essential things in the cmake and in the package.xml, and everything seems to compile fine:

-- ~~  traversing 5 packages in topological order:
-- ~~  - realsense2_description
-- ~~  - object_msgs
-- ~~  - open_vino_try
-- ~~  - opencv_tuto
-- ~~  - realsense2_camera


Scanning dependencies of target open_vino_try
[ 88%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/main.cpp.o
[ 90%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/cnn.cpp.o
[ 92%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/kuhn_munkres.cpp.o
[ 92%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/detector.cpp.o
[ 94%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/distance.cpp.o
[ 95%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/tracker.cpp.o
[ 97%] Building CXX object open_vino_try/pedestrian_tracker_demo/CMakeFiles/open_vino_try.dir/src/utils.cpp.o
[ 98%] Linking CXX executable /home/antoine/catkin_ws/devel/lib/open_vino_try/open_vino_try
[ 98%] Built target open_vino_try

But then I cannot run it through a rosrun, and actually the package does not appear anywhere, no matters the command. I obviously tried to source the devel every time but nothing changes.

The structure of my project is the following: I have my pkg (openvinotry) which will hold many subfolders, corresponding to the different sample code from OpenVino (btw I am aware that ros packages already exist, but they didn't seem to work properly, and moreover I really want to know why it is not working). For now there is only one subfolder: pedestriantrackerdemo. So I have a "big" CMakeLists at the root of my pkg which will call other CMakeLists in the different subfolder.

That the tree of my project:

This is my CMakeFiles in the pkg root folder:

cmake_minimum_required(VERSION 3.0.2)

project(open_vino_try)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  rospy
)

catkin_package()

option(ENABLE_PYTHON "Whether to build extension modules for Python demos" OFF)

if (CMAKE_BUILD_TYPE STREQUAL "")
    message(STATUS "CMAKE_BUILD_TYPE not defined, 'Release' will be used")
    set(CMAKE_BUILD_TYPE "Release")
endif()

if (NOT(BIN_FOLDER))
    string(TOLOWER ${CMAKE_SYSTEM_PROCESSOR} ARCH)
    if(ARCH STREQUAL "x86_64" OR ARCH STREQUAL "amd64") # Windows detects Intel's 64-bit CPU as AMD64
        set(ARCH intel64)
    elseif(ARCH STREQUAL "i386")
        set(ARCH ia32)
    endif()

    set (BIN_FOLDER ${ARCH})
endif()

if (NOT(IE_MAIN_SOURCE_DIR))
    # in case if samples are built out of IE repo
    set (IE_MAIN_SAMPLES_DIR ${CMAKE_CURRENT_BINARY_DIR})
else()
    # in case if samples are built from IE repo
    set (IE_MAIN_SAMPLES_DIR ${IE_MAIN_SOURCE_DIR})
endif()

if(NOT(UNIX))
    set (CMAKE_LIBRARY_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (CMAKE_LIBRARY_PATH ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (CMAKE_COMPILE_PDB_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (CMAKE_PDB_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    #set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (LIBRARY_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER})
    set (LIBRARY_OUTPUT_PATH ${LIBRARY_OUTPUT_DIRECTORY}) # compatibility issue: linux uses LIBRARY_OUTPUT_PATH, windows uses LIBRARY_OUTPUT_DIRECTORY
else ()
    set (CMAKE_LIBRARY_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE}/lib)
    set (CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE}/lib)
    set (CMAKE_COMPILE_PDB_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE})
    set (CMAKE_PDB_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE})
    #set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE})
    set (CMAKE_RUNTIME_OUTPUT_DIRECTORY "/home/antoine/catkin_ws/devel/lib/open_vino_try")
    set (LIBRARY_OUTPUT_DIRECTORY ${IE_MAIN_SAMPLES_DIR}/${BIN_FOLDER}/${CMAKE_BUILD_TYPE}/lib)
    set (LIBRARY_OUTPUT_PATH ${LIBRARY_OUTPUT_DIRECTORY}/lib)
endif()

if (WIN32)
    if (NOT "${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
        message(FATAL_ERROR "Only 64-bit supported on Windows")
    endif()

    set_property (DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS _CRT_SECURE_NO_WARNINGS)
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_SCL_SECURE_NO_WARNINGS -DNOMINMAX")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc") #no asynchronous structured exception handling
    set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /LARGEADDRESSAWARE")

    if (TREAT_WARNING_AS_ERROR)
        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /WX") #treating warnings as errors
    endif ()

    if (${CMAKE_CXX_COMPILER_ID} STREQUAL MSVC)
        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4251 /wd4275 /wd4267") #disable some warnings
    endif()
else()
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror") #treating warnings as errors
    if (APPLE)
        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=unused-command-line-argument")
    elseif(UNIX)
        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self")
        if(NOT ${CMAKE_CXX_COMPILER_ID} STREQUAL Clang)
            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wmaybe-uninitialized")
        endif()
    endif()
endif()

####################################
## to use C++11
set (CMAKE_CXX_STANDARD 11)
set (CMAKE_CXX_STANDARD_REQUIRED ON)
if (${CMAKE_CXX_COMPILER_ID} STREQUAL GNU)
    set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
endif()
####################################

set (GFLAGS_IS_SUBPROJECT TRUE)
set (HAVE_SYS_STAT_H 1)
set (HAVE_INTTYPES_H 1)

add_subdirectory(thirdparty/gflags)

if (${CMAKE_CXX_COMPILER_ID} STREQUAL GNU)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
endif()

add_subdirectory(common)

# samples build can be switched off during whole IE build
if (IE_MAIN_SOURCE_DIR AND NOT ENABLE_SAMPLES)
    return()
endif()

function(add_samples_to_build)
    # check each passed sample subdirectory
    foreach (dir ${ARGN})
        if (IS_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${dir})
            # check if a subdirectory contains CMakeLists.txt. In this case we can build it.
            file(GLOB is_sample_dir "${CMAKE_CURRENT_SOURCE_DIR}/${dir}/CMakeLists.txt")
            if(is_sample_dir)
                # check if specified sample/demo is found.
                if (BUILD_SAMPLE_NAME)
                    list(FIND BUILD_SAMPLE_NAME ${dir} index)
                endif()
                if (index EQUAL -1)
                    message(STATUS "${dir} SKIPPED")
                else()
                    # Include subdirectory to the project.
                    add_subdirectory(${dir})
                endif()
            endif()
        endif()
    endforeach()
endfunction(add_samples_to_build)

include(CMakeParseArguments)

#
# ie_add_sample(NAME <target name>
#               SOURCES <source files>
#               [HEADERS <header files>]
#               [INCLUDE_DIRECTORIES <include dir>]
#               [DEPENDENCIES <dependencies>]
#               [OPENCV_DENENDENCIES <opencv modules>]
#               [EXCLUDE_CPPLINT]
#
macro(ie_add_sample)
    set(options EXCLUDE_CPPLINT)
    set(oneValueArgs NAME)
    set(multiValueArgs SOURCES HEADERS DEPENDENCIES OPENCV_DEPENDENCIES INCLUDE_DIRECTORIES)
    cmake_parse_arguments(IE_SAMPLE "${options}" "${oneValueArgs}"
                          "${multiValueArgs}" ${ARGN} )

    # Find OpenCV components if exist
    if(IE_SAMPLE_OPENCV_DEPENDENCIES)
        find_package(OpenCV COMPONENTS ${IE_SAMPLE_OPENCV_DEPENDENCIES} QUIET)
        if(NOT OpenCV_FOUND)
            message(WARNING "OPENCV is disabled or not found, " ${IE_SAMPLE_NAME} " skipped")
            return()
        else()
            add_definitions(-DUSE_OPENCV)
        endif()
    endif()

    # Create named folders for the sources within the .vcproj
    # Empty name lists them directly under the .vcproj
    source_group("src" FILES ${IE_SAMPLE_SOURCES})
    if(IE_SAMPLE_HEADERS)
        source_group("include" FILES ${IE_SAMPLE_HEADERS})
    endif()

    # Create executable file from sources
    add_executable(${IE_SAMPLE_NAME} ${IE_SAMPLE_SOURCES} ${IE_SAMPLE_HEADERS})

    if(WIN32)
        set_target_properties(${IE_SAMPLE_NAME} PROPERTIES COMPILE_PDB_NAME ${IE_SAMPLE_NAME})
    endif()

    if(IE_SAMPLE_INCLUDE_DIRECTORIES)
        target_include_directories(${IE_SAMPLE_NAME} PRIVATE ${IE_SAMPLE_INCLUDE_DIRECTORIES})
    endif()
    target_include_directories(${IE_SAMPLE_NAME} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/../common")

    target_link_libraries(${IE_SAMPLE_NAME} PRIVATE ${OpenCV_LIBRARIES} ${InferenceEngine_LIBRARIES}
                                                    ${IE_SAMPLE_DEPENDENCIES} gflags)

    if(UNIX)
        target_link_libraries(${IE_SAMPLE_NAME} PRIVATE pthread)
    endif()

    # create global target with all samples / demo apps
    if(NOT TARGET ie_samples)
        add_custom_target(ie_samples ALL)
    endif()
    add_dependencies(ie_samples ${IE_SAMPLE_NAME})

    if(COMMAND add_cpplint_target AND NOT IE_SAMPLE_EXCLUDE_CPPLINT)
        add_cpplint_target(${IE_SAMPLE_NAME}_cpplint FOR_TARGETS ${IE_SAMPLE_NAME})
    endif()
endmacro()


# use this flag if you need to throw custom message in case if the IE package is not found.
if (IE_NOT_FOUND_MESSAGE)
    find_package(InferenceEngine 2.0 QUIET)
    if (NOT(InferenceEngine_FOUND))
        message(FATAL_ERROR ${IE_NOT_FOUND_MESSAGE})
    endif()
else()
    find_package(InferenceEngine 2.0 REQUIRED)
endif()

find_package(ngraph REQUIRED)

# collect all samples subdirectories
file(GLOB samples_dirs RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *)
# skip building of unnecessary subdirectories
list(REMOVE_ITEM samples_dirs common thirdparty)
add_samples_to_build(${samples_dirs})

if(ENABLE_PYTHON)
    find_package(PythonInterp 3.5 REQUIRED)
    find_package(PythonLibs "${PYTHON_VERSION_STRING}" EXACT REQUIRED)

    add_subdirectory(python_demos/human_pose_estimation_3d_demo/pose_extractor)
endif()


include_directories(
  ${catkin_INCLUDE_DIRS}
)

message(" Output directory ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ")

This is the Package.xml:

<?xml version="1.0"?>
<package format="2">
  <name>open_vino_try</name>
  <version>0.0.0</version>
  <description>The opencv_tuto package</description>

  <maintainer email="ehsan@todo.todo">ehsan</maintainer>

  <license>TODO</license>



  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>image_transport</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

And this is my CMakeFiles in the subfolder pedestriantrackerdemo:

# Copyright (C) 2018-2019 Intel Corporation
# SPDX-License-Identifier: Apache-2.0
#

file (GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
file (GLOB_RECURSE HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/*.hpp)

ie_add_sample(NAME open_vino_try
              SOURCES ${SOURCES}
              HEADERS ${HEADERS}
              INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/include"
              DEPENDENCIES monitors
              OPENCV_DEPENDENCIES highgui)

 target_link_libraries(open_vino_try PRIVATE
   ${catkin_LIBRARIES}
 )

target_link_libraries(open_vino_try PRIVATE ngraph::ngraph)

I have no idea what to do now, do you see an obvious mistake? I know the code is "heavy" but thanks for your time!

Antoine

Asked by AntoineKuleba on 2020-07-01 08:50:22 UTC

Comments

try source ~/.bashrc... I have to do that each time after I catkin build a new package.... otherwise it could not locate the new package

Asked by xibeisiber on 2020-07-01 09:13:58 UTC

Hi, sorry I forgot to say that I did it everytime, and sourcing the devel/setup.bash, but nothing changes!

Asked by AntoineKuleba on 2020-07-01 09:21:06 UTC

Answers

Well, after several days of trying everything, I finally found the issue.

For this particular package, I do not know why, but to allow the rosrun command to find my pkg, I have first to make a rospack depends1 pkg_name ( after sourcing the devel/setup obviously). This command succeeds in locating my package, and then it seems to update it and then allows me to run the command rosrun. It doesn't seem to be a normal process, does anyone have encounter such similar behavior?

Asked by AntoineKuleba on 2020-07-06 02:38:46 UTC

Comments