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[rosmake] how to configure your own packages [closed]

asked 2013-02-19 21:05:57 -0500

Claudio gravatar image

updated 2013-02-19 22:39:16 -0500

Many packages I download in source form are able to be built via a simple

$rosmake <package>

This seems to imply the build system for those packages is already configured. My packages on the contrary need to expressly launch cmake first otherwise there is no makefile. The generated makefile then is not portable in that cmake creates machine specific paths.

So how do I make my packages portable like the others? I want my packages to "just work" once downloaded.

I should also note that I've moved to a stack and that packages within are correctly built in the right dependency sequence, but if there is no makefile already, rosmake would fail.

Rosmake appears unable to generate the Makefile from CMakeLists.txt by itself requiring an explicit cmake before.

I've been requested to post the code, I guess that's the CMakeLists code. Here it is

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
set(coverage RelWithDebInfo)
set(CMAKE_CXX_FLAGS "-std=c++0x")

rosbuild_init()
rosbuild_find_ros_package(saetta_msgs REQUIRED)
rosbuild_add_boost_directories()
find_package(PkgConfig REQUIRED)
pkg_check_modules(OpenCV REQUIRED opencv)
pkg_check_modules(gtk+ REQUIRED gtk+-2.0)

#set paths
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
set(PATH_SRC ${PROJECT_SOURCE_DIR}/src)
set(PATH_CVBLOBS ${PATH_SRC}/cvblobs8.3_linux)
set(PATH_INC ${PROJECT_SOURCE_DIR}/include)
set(INCLUDE_PATHS ${PATH_INC} ${PATH_CVBLOBS} ${OpenCV_CFLAGS} ${gtk+_CFLAGS})
link_directories(${LIBRARY_OUTPUT_PATH})

# Set the directories where include files can be found.
include_directories (include)
include_directories (${INCLUDE_PATHS})
include_directories (${gtk+_INCLUDE_DIRS})
include_directories (${OpenCV_INCLUDE_DIRS})
include_directories (${saetta_msgs_PACKAGE_PATH}/msg_gen/cpp/include)


# Add dynamic reconfigure API.
#rosbuild_find_ros_package (dynamic_reconfigure)
#include (${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
#gencfg ()

#common commands for building c++ executables and libraries
rosbuild_add_library(vision ${PATH_SRC}/Vision.cpp)
# add imported target
add_library(blobs STATIC IMPORTED)
# point the imported target at the real file
set_property(TARGET blobs PROPERTY IMPORTED_LOCATION ${PATH_CVBLOBS}/libblob.a)
target_link_libraries(vision ${OpenCV_LIBRARIES} ${PATH_CVBLOBS}/libblob.a)
rosbuild_add_executable(vispos ${PATH_SRC}/main.cpp)
target_link_libraries(vispos vision)
rosbuild_link_boost(vispos system)

And here is the Manifest

<package>
  <description brief="saetta_vision">
Saetta vision  </description>
  <author>Claudio Carbone</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url></url>
  <depend package="rospy"/>
  <depend package="roscpp"/>
  <rosdep name="OpenCV 2.4.0"/>
  <depend package="saetta_msgs" />

</package>

Here is the build command

me@mycomputer:~/Apps/ROS/Saetta/saetta_vision$ rosmake Saetta
[ rosmake ] rosmake starting...                                                 
[ rosmake ] Packages requested are: ['Saetta']                                  
[ rosmake ] Logging to directory /home/me/.ros/rosmake/rosmake_output-20130220-113614
[ rosmake ] Expanded args ['Saetta'] to:
['saetta_base', 'saetta_vision', 'saetta_msgs']
[...]    
[rosmake-1] Finished <<< saetta_msgs [PASS] [ 0.25 seconds ]                    
[rosmake-1] Starting >>> saetta_base [ make ]                                   
[rosmake-0] Starting >>> saetta_vision [ make ]                                 
[rosmake-0] Finished <<< saetta_vision  No Makefile in package saetta_vision
[...]
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Closed for the following reason the question is answered, right answer was accepted by Claudio
close date 2013-02-20 20:33:03

2 Answers

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answered 2013-02-19 23:09:24 -0500

Eric Perko gravatar image

When you created your package with roscreate-pkg (as shown in this tutorial: http://ros.org/wiki/ROS/Tutorials/CreatingPackage), it should have created the required Makefile for you. Since you don't have one, you technically have have a malformed ROS package, which is why rosmake won't build it.

Either regenerate your package using roscreate-pkg or just create a Makefile in your package with the following contents:

include $(shell rospack find mk)/cmake.mk

Also for things like OpenCV you should look into using standard find_package syntax as opposed to going through pkg-config.

Here's an example snippet from the CMakeLists.txt of a package using that approach:

find_package(OpenCV REQUIRED)
include_directories(${OPENCV_INCLUDE_DIR})

rosbuild_add_executable(dilation_sample src/dilation_sample.cpp)
target_link_libraries(dilation_sample ${OPENCV_LIBS})

You may find a similar find_package module is provided by CMake or GTK for using GTK libriaries in a CMake project.

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Comments

I used roscreate-pkg only at the beginning, thinking that was just for new users, I thought cmake and manifest would be sufficient. Never realized it also created a makefile.

For the OpenCV fact is the fuerte version isn't compatible with the C++0x parameter.

Why do you say find_package is better?

Claudio gravatar imageClaudio ( 2013-02-20 00:05:01 -0500 )edit

I would recommend find_package over pkg-config mainly since that is the standard way to find dependencies in CMake. In my experience, I've also seen external dependencies that had not quite correct pkg-config files, but their find_package module was fine.

Eric Perko gravatar imageEric Perko ( 2013-02-20 06:04:29 -0500 )edit

As for roscreate-pkg, it is the standard way of getting the scaffolding right when creating a new ROS package (at least a rosmake package... catkin is different). You can of course create all of the files by hand, but roscreate-pkg will make sure you end up with all of the expected files.

Eric Perko gravatar imageEric Perko ( 2013-02-20 06:05:57 -0500 )edit

thanks Eric, fact is when I started writing many programs I did not know from the start which libraries I was going to use in the end, so roscreate-pkg was fine but I had to learn ho to modify everything by hand. and this little thing of the makefile completely escaped me. well thanks for that!

Claudio gravatar imageClaudio ( 2013-02-20 20:32:19 -0500 )edit
-1

answered 2013-02-19 21:52:32 -0500

dbworth gravatar image

For Fuerte, you can follow the tutorial on creating a Package. You run the command and specify the package name + dependencies (e.g. just roscpp). You can add more dependencies later by editing the manifest file. You edit the automatically generated CMakelists to add your source file for compilation, specify libraries, etc. Check these files in other packages for examples of more complex requirements.

After making a few test packages it becomes really easy. You can keep a scratch package like 'claudio_test_node' for quickly adding source code that you need to roslaunch/rosrun.

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Did that. As I said I have a multi-package stack working.

Problem is: if the Makefile is missing, rosmake sees that as an error and stops. It seems rosmake is unable to create the Makefile from CMakeLists.txt by itself. That's my problem.

Claudio gravatar imageClaudio ( 2013-02-19 21:54:02 -0500 )edit

Then you should have just written the 4th sentence. Post your code. You should not need to run cmake directly.

dbworth gravatar imagedbworth ( 2013-02-19 22:05:34 -0500 )edit

code posted

Claudio gravatar imageClaudio ( 2013-02-19 22:41:26 -0500 )edit

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Asked: 2013-02-19 21:05:57 -0500

Seen: 1,922 times

Last updated: Feb 19 '13