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How to build a custom 'stageros' using catkin? [closed]

asked 2013-04-24 06:05:16 -0600

updated 2014-01-28 17:16:20 -0600

ngrennan gravatar image

Hi,

Due to stageros does not fit all my requirements, I need to do some modifications to source code. My questions are:

What files should I add to my package? How should I modify CMakelists.txt in my new package for build the modified stageros.cpp? Do I have to add libstage library to my package?

I'm using ROS Groovy on Ubuntu 12.04.

Thanks,

Gustavo.

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Closed for the following reason the question is answered, right answer was accepted by gustavo.velascoh
close date 2014-01-28 04:14:32

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answered 2014-01-28 04:13:53 -0600

Finally stage was splited in ros-hydro-stage and ros-hydro-stage-ros in hydro, so I could modify stage-ros and it depends on stage.

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answered 2013-04-24 06:21:23 -0600

joq gravatar image

The Groovy version of stage still uses rosbuild. Consequently, catkin packages can't depend on it.

Many packages are being converted to catkin for Hydro. Stage has not yet been released to Hydro alpha, I don't know whether it will be converted then or not.

You can create your own modified version of stageros with rosbuild. I had a similar problem with simulator_art, you can look at my solution here. That package depends on libstage and has its own modified copy of stageros.cpp.

The only problem is that I've had to modify it every time they change the stage API, with is unfortunately frequent.

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When you say that I can create modified version using rosbuild is for create a dependency from stage stack? I mean... this is for avoiding include libstage in my new package?

gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-04-26 06:51:43 -0600 )edit

No, it depends on the stage package, using its libstage and stage.hh, but compiles its own copy of stageros.cpp (mine variant is called artstage.cc).

joq gravatar imagejoq ( 2013-04-26 06:57:39 -0600 )edit

sorry,may be I did not explain well... Using rosbuild I can create my custom-stage depending on stage package, using its libstage and stage.hh. But if I want to use catkin, I have to add libstage and stage.hh to my package, isn't it?

gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-04-26 07:06:21 -0600 )edit

In this way I could preserve certain version of libstage for my simulator package and not depend on stage releases..

gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-04-26 07:07:42 -0600 )edit

I repeat: catkin packages cannot depend on rosbuild packages. Stage in Groovy is a rosbuild package. What you want does not work.

joq gravatar imagejoq ( 2013-04-26 12:57:20 -0600 )edit
gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-04-26 13:48:32 -0600 )edit

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Asked: 2013-04-24 06:05:16 -0600

Seen: 449 times

Last updated: Jan 28 '14