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How do I get rosmake to call cmake

asked 2011-03-20 23:13:12 -0500

Benoit Larochelle gravatar image

updated 2011-03-22 05:08:12 -0500

Here's a minimal example. ROS Package A depends on ROS Package B. The authors of these packages did not distribute Makefiles, because they contain hard-coded paths to their computers. Therefore, I need to call cmake . and then make.

I would like to to call rosmake A and have it call cmake on both A and B and then make. Is that possible?

Currently, it just skips over any package without a Makefile:

[rosmake-0] Starting >>> A [ make ]
[rosmake-0] Finished <<< A  No Makefile in package A

I do not want to copy their code into a new package, because I would need to do that every time that the authors publish a new version.

In addition, when I create my ROS Package C, which depends on A, I don't want the users of my package to have problems compiling, because they are not necessarily familiar with ROS. I want them to type rosmake C and have everything working as expected.

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I updated the question to make it clearer, because I still don't have an answer
Benoit Larochelle gravatar image Benoit Larochelle  ( 2011-03-27 19:18:33 -0500 )edit

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answered 2011-04-04 20:14:41 -0500

tfoote gravatar image

updated 2011-04-07 09:24:50 -0500

When wrapping 3rd party packages you need to write a custom Makefile for that package which will download and build the 3rd party package. An example of calling cmake is the kdl package. A slightly simpler example is bfl.

If you want other packages to build first you must add dependencies on that package. And export required compile and link flags. I highly recommend you go through the Beginner Tutorials which covers how to create and use ROS packages.

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answered 2011-04-05 21:44:30 -0500

Benoit Larochelle gravatar image

I still have not found how to get rosmake to call cmake, but copying a Makefile from a dummy package created with roscreate-pkg solves part of the problem. In fact, it's not even necessary to call roscreate-pkg because the Makefile has only this line:

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

With this Makefile in the package directly (not in the src folder), I can call make and rosmake and it always works. Unfortunately, it does not solve the problem of other packages (dependencies) not having Makefiles.

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answered 2011-03-22 04:37:07 -0500

dornhege gravatar image

Are you talking about ROS packages or external packages?

For ROS packages the best way would be to add them as a dependency and use the standard (ROS) Makefile.

For external packages rosdep should be the way to go.

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answered 2011-04-06 00:11:16 -0500

dornhege gravatar image

First: roscreate-pkg does a bit more than create the Makefile. It will also produce manifest.xml mainpage.dox, a dummy CMakeLists.txt, etc.

For your question: Could you say what exactly you mean with "other packages"?

Is this other ROS packages? They should always have a ros like Makefile (or ROS_NOBUILD) and adding them to manifest.xml as a dependency is the right way to go.

Is this an external (= non-ROS) package? Then use the way tfoote described.

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answered 2011-03-21 03:48:49 -0500

joq gravatar image

updated 2011-03-22 03:44:56 -0500

The roscreate-pkg script will generate the CMakeLists.txt and Makefile that rosmake requires.

See: roscreate.

Since your package already exists, the simplest approach may be to create a new dummy package, then copy those two files to yours. They are small and simple. You'll need to edit CMakeLists.txt, but the Makefile should work unmodified.

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Asked: 2011-03-20 23:13:12 -0500

Seen: 1,230 times

Last updated: Apr 07 '11