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How to specify launch file path in snap creation?

asked 2020-10-27 11:23:13 -0600

Py gravatar image

I am having trouble getting a snap of my ROS package to work correctly. After creating the snapcraft.yaml file, successfully generating the snap and installing it, I get this message when trying to run the ROS package:

This part is missing libraries that cannot be satisfied with any available stage-packages known to snapcraft:
- libpsm_infinipath.so.1
These dependencies can be satisfied via additional parts or content sharing. Consider validating configured filesets if this dependency was built.
The command 'roslaunch' for 'roslaunch ROS_PACKAGE launch_file.launch' was resolved to 'opt/ros/melodic/bin/roslaunch'.
The command 'roslaunch ROS_PACKAGE launch_file.launch' has been changed to 'opt/ros/melodic/bin/roslaunch ROS_PACKAGE launch_file.launch'.
Snapping |                                                                                                                                                                                                          
Snapped snap-name_0.1_amd64.snap
(venv) user@computer:~/catkin_ws/src/ros_package$ sudo snap install --devmode --dangerous *.snap
snap-name 0.1 installed
(venv) user@computer:~/catkin_ws/src/ros_package$ snap-name 
RLException: [launch_file.launch] is neither a launch file in package [contamination_mapping] nor is [contamination_mapping] a launch file name
The traceback for the exception was written to the log file

Could anyone suggest what might have gone wrong in the process?

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I see this type of error most often as a result of missing installation rules. Double check that you're actually installing that launch file in the CMakeLists.txt.

kyrofa gravatar image kyrofa  ( 2020-10-27 11:28:29 -0600 )edit

Thanks very much! I have this in CMakeLists.txt. Is this right?

install(DIRECTORY launch/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
        )
Py gravatar image Py  ( 2020-10-27 11:34:03 -0600 )edit

Also, I've just seen the following in the messages I get at the end of snap creation: No packages found in source space. Does this offer any clues?

Py gravatar image Py  ( 2020-10-27 11:38:09 -0600 )edit
1

Yeah it does. When you're building a snap, snapcraft needs to operate on a workspace. That message makes me think maybe you're trying to get it to build a single package, is that true? You need to point it at either a workspace or a rosinstall file (and it'll create a workspace before merging that rosinstall file in).

kyrofa gravatar image kyrofa  ( 2020-10-28 14:12:35 -0600 )edit

Yes that's right I was trying to build a single package. What folder should the snapcraft.yaml and .rosinstall file be in? For the .rosinstall file, would this just contain the following? - git: {local-name: my_ros_package, uri: 'https://github.com/user/my_ros_package.git', version: master}

Py gravatar image Py  ( 2020-10-29 02:19:21 -0600 )edit

Also, on the snap tutorial here, I seemed to think that the snapcraft.yaml was just referencing the ROS package Github repository and I didn't need the whole local workspace. Maybe I'm misunderstanding?

Py gravatar image Py  ( 2020-10-29 03:55:23 -0600 )edit

Yeah the snap tutorial cheats a little. It pulls down that github repo, but then it tells catkin that instead of the source-space being the default src subdirectory, it's the roscpp_tutorials subdirectory, and thus catkin happily proceeds as if it were operating on a workspace. You can do a similar thing if you like that better than a rosinstall file, but I'll give more rosinstall details in my answer shortly as its a bit more generically useful (doesn't require your repo to be structured in any particular way).

kyrofa gravatar image kyrofa  ( 2020-10-29 09:51:54 -0600 )edit

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answered 2020-10-29 12:29:34 -0600

kyrofa gravatar image

updated 2020-10-29 12:30:03 -0600

Note that snapcraft currently only supports building workspaces into snaps, not individual ROS packages. This is a known shortcoming and is slated to be fixed this cycle. The easiest workaround for this is to use a rosinstall file, which will cause snapcraft to create a workspace on your behalf instead of requiring you to do it.

To describe how this is done, I'll alter the snap tutorial you're using to use a rosinstall file. First of all, let's create our snapcraft yaml:

$ mkdir ~/my-snap
$ cd ~/my-snap
$ snapcraft init
Created snap/snapcraft.yaml.
Go to https://docs.snapcraft.io/the-snapcraft-format/8337 for more information about the snapcraft.yaml format.

Edit the snap/snapcraft.yaml and make it look like this:

name: ros-talker-listener
version: '0.1'
summary: ROS Talker/Listener Example
description: |
  This example launches a ROS talker and listener.

confinement: devmode
base: core18

parts:
  ros-tutorials:
    plugin: catkin
    source: .
    rosinstall-files: [ros_tutorials.rosinstall]
    catkin-packages: [roscpp_tutorials]
    build-packages: [lsb-release]  # I needed this in LXD, you may not

apps:
  ros-talker-listener:
    command: roslaunch roscpp_tutorials talker_listener.launch

Note the use of rosinstall-files. Let's create a ros_tutorials.rosinstall file alongside the snap/ directory:

$ touch ~/my-snap/ros_tutorials.rosinstall

Make that file look like the following:

- git: {local-name: ros_tutorials, uri: 'https://github.com/ros/ros_tutorials.git', version: melodic-devel}

Save, and build the snap. Note the installation of wstool and the workspace merging happening before fetching dependencies and whatnot:

$ snapcraft
<snip>
Pulling ros-tutorials 
Installing wstool...
<snip>
Initializing workspace (if necessary)...
Merging /root/parts/ros-tutorials/src/ros_tutorials.rosinstall
Updating workspace...
<snip>
Installing apt dependencies...
<snip>
Building ros-tutorials
<snip>
Snapped ros-talker-listener-test_0.1_amd64.snap
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Asked: 2020-10-27 11:23:13 -0600

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Last updated: Oct 29