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How do I create a rosbuild overlay on a catkin workspace?

asked 2012-12-05 22:39:35 -0500

updated 2012-12-05 22:41:14 -0500

I installed Groovy and created a brand-new catkin workspace according to this tutorial, and everything works fine so far. However, I tried to overlay my old rosbuild-style (aka "dry") packages like this:

source $HOME/ros-groovy/devel/setup.bash
mkdir $HOME/ros-groovy-old
cd $HOME/ros-groovy-old
rosws init . /opt/ros/groovy
rosws set $HOME/path/to/my/packages

According to REP-128, I can enable the overlay with source $HOME/ros-groovy-old/setup.bash. This lets me work with my dry packages, but it makes ROS forget about my catkin workspace. If I re-source $HOME/ros-groovy/devel/setup.bash, I can use my wet packages in the catkin workspace again, but I loose the dry packages in the rosbuild workspace.

I checked and it seems that both setup.bash overwrite the ROS_PACKAGE_PATH with their own values. But how can I make them aware of each other? The only documentation Google came up with told me that the overlay should Just Work(tm). What am I doing wrong?

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answered 2012-12-05 22:44:37 -0500

KruseT gravatar image

updated 2012-12-06 00:33:35 -0500

Lorenz gravatar image

This was a bug in rosws. update rosinstall (via-apt get) to 0.6.22, and run rosws regenerate in your rosbuild workspace. the changed should now include your catkin packages in the ROS_PACKAGE_PATH.

EDIT: Sorry, did not read your question careful enough. REP128 is not correct (and still work in progress). A tutorial on how to have a rosbuild workspace on top of a catkin workspace is here:

So what you have to do is when you create your rosbuild workspace, you tell rosws which catkin workspace you want to overlay (Else it cannot know). So instead of calling:

rosws init . /opt/ros/groovy


rosws init . $HOME/ros-groovy/devel/

The same can be done later with rosws merge, but at the risk of having the catkin workspace at the wrong place in the ROS_PACKAGE_PATH.

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According to dpkg -s python-rosinstall, I already have version 0.6.22-1.

roehling gravatar image roehling  ( 2012-12-05 23:55:53 -0500 )edit

Thanks, that worked.

roehling gravatar image roehling  ( 2012-12-06 00:16:42 -0500 )edit
KruseT gravatar image KruseT  ( 2012-12-06 00:20:43 -0500 )edit

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Asked: 2012-12-05 22:39:35 -0500

Seen: 1,116 times

Last updated: Dec 06 '12