bear234's profile - activity

As we know, each ROS package contains these two files: package.xml and CMakeLists.txt.

I don't understand exactly how they works together.

For example, the package.xml of the package actionlib shows us that it depends on python-wxtools because it conains such a line:

<exec_depend>python-wxtools</exec_depend>

However, after reading the file CMakeLists.txt of the package actionlib, I don't see that it depends on python-wxtools. Here is the CMakeLists.txt of actionlib:

find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rosunit std_msgs)
find_package(Boost REQUIRED COMPONENTS thread)

include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})

catkin_python_setup()

add_action_files(DIRECTORY action FILES Test.action TestRequest.action TwoInts.action)
generate_messages(DEPENDENCIES actionlib_msgs std_msgs)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES actionlib
  CATKIN_DEPENDS actionlib_msgs message_runtime roscpp std_msgs
  DEPENDS Boost
)

add_library(actionlib src/connection_monitor.cpp src/goal_id_generator.cpp)
target_link_libraries(actionlib ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(actionlib actionlib_gencpp)

catkin_install_python(PROGRAMS tools/axclient.py tools/axserver.py tools/dynamic_action.py tools/library.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h")

if(CATKIN_ENABLE_TESTING)
  find_package(rostest)
  add_subdirectory(test)
endif()

I've downloaded the ROS Base and some other ROS packages.

Also, I've followed the doc http://wiki.ros.org/kinetic/Installat... to install them.

Now I need to check which dependencies (so file) are used for each ROS package.

Is it possible?

The ROS1 package cv_bridge can be downloaded here: https://github.com/ros-perception/vis... and be found at vision_opencv/cv_bridge.

I just checked its CMakeLists.txt and I found OpenCV3:

find_package(OpenCV 3 REQUIRED
  COMPONENTS
    opencv_core
    opencv_imgproc
    opencv_imgcodecs
  CONFIG
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS rosconsole sensor_msgs
  DEPENDS OpenCV
  CFG_EXTRAS cv_bridge-extras.cmake
)
catkin_python_setup()
include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

The OpenCV3 by default is very huge so I want to use a custom one, which is smaller.

I put my own OpenCV3 at /opt/opencv3/ and there are only two directories: include and lib in it.

Now I want to tell the package cv_bridge to look for my own specific OpenCV3 so that I can remove the original OpenCV3 from the source of ROS.

Is it possible? How can I modify the CMakeLists.txt of cv_bridge?

I'm trying to install my custom ROS workspace from source.

What I've done is to download the source code of version of ros-kinetic-ros-base, then I add some additional packages into ros-base.

When I add one package, I always execute ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release to catkin_make all packages. This gonna take much time.

So I'm thinking if I can catkin_make only one package that I added because others have been installed before.

For example, here is the structure of my ros-base:

/home/ros/ |-----------src |-----------build_isolated |-----------devel_isolated |-----------install_isolated

As you see, all have been done correctly after executing ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release. Now I add a package named newPkg into ./src. To rebuild, I have to execute the command again, which will rebuild all packages.

So is it possible to catkin_make the only one package?