Brendan Andrade's profile - activity

Ubuntu 12.04, Groovy, catkin build

I am trying to define a custom action for a rospy node.

my_foo.py starts with:

#!/usr/bin/env python

import actionlib
import rospy
from geometry_msgs.msg import Twist
from my_foo.msg import *

When I run the node with rosrun, it yields the error:

Traceback (most recent call last):
  File "/home/johndoe/groovy-workspace/src/dcslROS/my_package/src/my_package/my_foo.py", line 16, in <module>
    import my_foo.msg
  File "/home/johndoe/groovy-workspace/src/dcslROS/my_package/src/my_package/my_foo.py", line 16, in <module>
    import my_foo.msg
ImportError: No module named msg

I have tried renaming the python package to not match the ROS package name and changing the setup.py file accordingly but that yielded the same error. The message build files are generated into devel/lib/python2.7/dist-packages/my_foo/msg but are not being found at run time.

My file structure is:

/my_foo
  package.xml
  CMakeLists.txt
  setup.py
  /action
    CustomAction.action
  /src
    my_node1.cpp
    /my_foo
      my_foo.py
      __init__.py

Setup.py:

#!/usr/bin/env python

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup

d = generate_distutils_setup(
    packages=['my_foo'],
    package_dir={'': 'src'}
)

setup(**d)

__init__.py is an empty file.

CustomAction.action contains:

# Determine whether to connect
bool connect # True = connect robot, False = Do nothing
---
# Determine if successfully connected
bool connected # True = Connected, False = Not connected
---
# Determine if robot is still connecting
bool in_progress # True = still connecting, False = finished

package.xml

<package>
  <name>my_foo</name>
  <version>0.1.0</version>
  <description>
    Description
  </description>
  <maintainer email="foo@aol.com">
    John Doe
  </maintainer>
  <license>BSD</license>

  <url type="website">http://ros.org/wiki/my_foo</url>
  <!-- <url type="bugtracker"></url> -->

  <author>John Doe</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>actionlib</build_depend>
  <build_depend>actionlib_msgs</build_depend>
  <build_depend>genmsg</build_depend>
  <!-- <build_depend>joy</build_depend> -->
  <!-- <build_depend>turtlebot_teleop</build_depend> -->
  <run_depend>std_msgs</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>actionlib</run_depend>
  <run_depend>actionlib_msgs</run_depend>
  <run_depend>genmsg</run_depend>
  <run_depend>joy</run_depend>
  <run_depend>turtlebot_teleop</run_depend>
  <!-- <test_depend>std_msgs</test_depend> -->
  <!-- <test_depend>geometry_msgs</test_depend> -->
  <!-- <test_depend>rospy</test_depend> -->
  <!-- <test_depend>roscpp</test_depend> -->
  <!-- <test_depend>joy</test_depend> -->
  <!-- <test_depend>turtlebot_teleop</test_depend> -->

  <export>

  </export>
</package>

CMakeLists.txt

# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
cmake_minimum_required(VERSION 2.8.3)
project(my_foo)

# Load catkin and all dependencies required for this package
set(CATKIN_DEPS std_msgs geometry_msgs rospy roscpp genmsg actionlib actionlib_msgs)
set(SYS_DEPS python-bluez python-sys)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPS})

# 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(ROS_BUILD_TYPE RelWithDebInfo)

# Add action files
add_action_files(
  DIRECTORY action
  FILES CustomAction.action
)

# Install python scripts using distutils
catkin_python_setup()


# Generate action messages
generate_messages(
  DEPENDENCIES actionlib_msgs
)

## DEPENDS: system dependencies of this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## INCLUDE_DIRS: 
## LIBRARIES: libraries you create in this project that dependent projects also ...