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ROS Tutorial clarification

asked 2013-03-17 03:38:09 -0600

Gabor Juhasz gravatar image

Hi,

I'm following the (catkin) tutorials to get started with ROS, and I run into the following.

In CreatingMsgAndSrv tutorial it says I should add this to my CMakeLists.txt:

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)

But in the next tutorial (WritingPublisherSubscriber) it says I should have this:

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)

Another inconsistency I found:

Also make sure you export the message runtime dependency.

catkin_package( ... CATKIN_DEPENDS message_runtime ... )

while on the next page:

catkin_package()

So, the question is, which one of these should I use? Does it matter? What's the difference?

Thanks


The links for pages mentioned:

ros.org/wiki/ROS/Tutorials/CreatingMsgAndSrv ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

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answered 2013-05-27 09:42:49 -0600

tfoote gravatar image

updated 2013-05-27 09:43:57 -0600

What you put in your CMakeLists.txt depends on what you are doing in your package. If you are just writing a simple node you don't need to export CATKIN_DEPENDS and you don't need to depends on message_generation.

There's a good summary of what CATKIN_DEPENDS is for in this question

Whereas if you are creating messages like the first tutorial you do need to do those things so the the messages can be generated.

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Asked: 2013-03-17 03:38:09 -0600

Seen: 469 times

Last updated: May 27 '13