Ask Your Question
0

how to include catkin package ?

asked 2020-07-24 05:35:51 -0500

Cry-A-Lot gravatar image

updated 2020-07-30 02:02:26 -0500

suppose i have directory tree like this :

.
├── .catkin_tools
│   ├── CATKIN_IGNORE
│   ├── profiles
│   │   └── default
│   ├── README
│   └── VERSION
└── src
    ├── pkg_a
    │   ├── CMakeLists.txt
    │   ├── mutiply.cpp
    │   ├── package.xml
    │   └── sumfunc.cpp
    └── pkg_b
        ├── CMakeLists.txt
        ├── main.cpp
        └── package.xml

6 directories, 10 files

how can i edit CMakeLists.txt So that i can use those file in pkg_a inside pkg_b/main.cpp like this :

#include <pkg_a/mutiply.cpp>
#include <pkg_a/sumfunc.cpp>
#include <pkg_a/someheader.h>// or maybe this one

int main(void) {
    int sum_result = sum(5,5);
    int muli_result = muti(5,5);
    return 0;
}

NOTE : i already take a look at this recommend but i not quite understand it.

Edit :

after @Weasfas Answer i have create func_terminal.h file in pkg_a and have this tree file :

└── src
    ├── pkg_a
    │   ├── CMakeLists.txt
    │   ├── func_terminal.h
    │   ├── mutiply.cpp
    │   ├── package.xml
    │   └── sumfunc.cpp
    └── pkg_b
        ├── CMakeLists.txt
        ├── main.cpp
        └── package.xml

and add some command in cmakeList.txt in pkg_b : add find package

find_package(catkin REQUIRED COMPONENTS roscpp pkg_a)

add include_directories

include_directories(
  include
  ${catkin_INCLUDE_DIRS}

)

add catkin package

catkin_package(
  CATKIN_DEPENDS pkg_a
)

and in building

add_executable(main_node main.cpp) 
target_link_libraries(main_node ${catkin_LIBRARIES}) 
add_dependencies(main_node ${catkin_EXPORTED_TARGETS})

then edit package.xml by add these line

  <build_depend>pkg_a</build_depend>
  <build_export_depend>pkg_a</build_export_depend>
  <exec_depend>pkg_a</exec_depend>

but i will get an error

fatal error: pkg_a/func_terminal.h: No such file or directory

from catkin build if i try to add this line

 #include <pkg_a/func_terminal.h>

in pkg_b/main.cpp file

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
0

answered 2020-07-24 13:14:56 -0500

Weasfas gravatar image

updated 2020-07-31 04:51:35 -0500

Hi @Cry-A-Lot,

The recommended link you posted explains you how to compile a target against a library of the same package.

The first recommendation is that you should not include cpp files in your code but hpp or or h (header) since with that intruction (E.g.: #include <pkg_a/mutiply.cpp>) the compiler will probably throw an error because of the multiples and function duplications.

After you have generated properly your headers you should compile your targets against your libraries. It means that, if for instance you have in sumfunc.cpp something you want to use in main.cpp you should compile your main.cpp as:

EDIT:

I have managed to achieve what you want, first of all the package structure is the following:

└── src
    ├── pkg_a
    │   ├── CMakeLists.txt
    │   ├── include
    │   │  ├── package_a
    │   │  │   ├── some_func.hpp
    │   ├── src
    │   │  ├── some_func.cpp
    │   └── package.xml
    └── pkg_b
    │   ├── CMakeLists.txt
    │   ├── src
    │   │   ├── main.cpp
    │   └── package.xml

Then in CmakeList.txt of package_a:

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  ...
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES SumFunc
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(SumFunc
   src/sum_func.cpp
)

And to use in package_b:

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  package_a
  ...
)

catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(main_node src/main.cpp)

target_link_libraries(main_node
  ${catkin_LIBRARIES}
)

Hope that solve your problem.

Regards.

edit flag offensive delete link more

Comments

i try to edit like you said but i still got an error: "fatal error: pkg_a/func_terminal.h: No such file or directory" what am i miss

Cry-A-Lot gravatar image Cry-A-Lot  ( 2020-07-29 02:40:18 -0500 )edit

Mmm how is your package structure? Maybe you forgot a dependency.

Weasfas gravatar image Weasfas  ( 2020-07-29 10:31:36 -0500 )edit

So I have edited my answers to a achievable solution to see if that can help you.

Weasfas gravatar image Weasfas  ( 2020-07-31 04:51:59 -0500 )edit

i have follow instruction from you EDIT section , but i still doesn't work with me and got an error : "Could not find a package configuration file provided by "package_a" " could you please re-check it.

Cry-A-Lot gravatar image Cry-A-Lot  ( 2020-08-03 02:59:08 -0500 )edit

@Cry-A-Lot , that is a usual problem when the CMakeList.txt of one package is bad implemented. How is your cmake. That message is telling you that catkin is unable to find the package_a in the workspace so, either you defined bad your CMakeList.txt or you package.xml is not well formed.

Weasfas gravatar image Weasfas  ( 2020-08-03 12:36:24 -0500 )edit

it only occur when i add package_a inside

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  # package_a)

this is my pgk_a/CmakeList.txt :

cmake_minimum_required(VERSION 3.0.2)
project(pkg_a)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES SumFunc
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(SumFunc
   src/func_terminal.cpp
)

this is my pkg_b/CmakeList.txt :

cmake_minimum_required(VERSION 3.0.2)
project(pkg_b)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  # package_a
)

catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(main_node src/main.cpp)

target_link_libraries(main_node
  ${catkin_LIBRARIES}
)
Cry-A-Lot gravatar image Cry-A-Lot  ( 2020-08-04 02:09:37 -0500 )edit

Well the package name you gave is not package_a but pkg_a. That may be the problem of catkin not finding it.

Weasfas gravatar image Weasfas  ( 2020-08-04 04:11:07 -0500 )edit

if i replace package_a with pkg_a it still give an error : Project 'pkg_a' specifies 'include' as an include dir, which is not found.

Cry-A-Lot gravatar image Cry-A-Lot  ( 2020-08-04 06:52:57 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2020-07-24 05:35:51 -0500

Seen: 29 times

Last updated: Jul 31