Install custom catkin package on Raspbian

Question

Hello,

I have some problem. I made a custom package on ros kinetic (ubuntu 16.04) previously and is working fine. Recently I am trying to use it on a Raspberry Pi3 (Raspbian).

I have successfully installed ROS following official tutorial so actually I have a ros_catkin_ws directory with necessary sources compiled. I also manged to install a release package (p2os_driver) from github using ros-install, wstool, catkin_make_isolated.

So now I have my catkin package test (which contains launch and src directories with packgae.xml and CMake). On Ubuntu this folder was located in catkin_ws and all I had to do was catkin_make, source catkin_ws/devel/setup.bash.

So my question is, how can I import this package into my new installation on Raspbian ? I tried several things, copying it in ros_catkin_ws/src then catkin_make_isolated this specific package, tried to make an overlay catkin workspace (without amstering it at all so maybe I did it wrong) so I can use catkin_make (but this only get me a "can't find rosout" when doing "roslaunch test test.launch").

Maybe I got it wrong when using "source" also. Currently I have ROS_PACKAGE_PATH set to "/opt/ros/kinetic/share". Or I missed a catkin_init_workspace somehow.

Thanks for your help.

Edit :

Thanks for answering. Still in trouble though. When running catkin_make in my second worspace (catkin_ws), I got this (after having sourced ros_catkin_ws/devel/setup.bash):

    +++ processing catkin package: 'test'
-- ==> add_subdirectory(test)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /opt/ros/kinetic/share/p2os_driver/cmake/p2os_driverConfig.cmake:148 (message):
  Project 'test' tried to find library 'p2os_driver'.  The library is
  neither a target nor built/installed properly.  Did you compile project
  'p2os_driver'? Did you find_package() it before the subdirectory containing
  its code is included?
Call Stack (most recent call first):
  /home/pi/ros_catkin_ws/devel/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  test/CMakeLists.txt:10 (find_package)

However p2os_driver is, I think, properly built in main workspace (ros_catwin_ws) since I got no error doing :

sudo ~/ros_catkin_ws/src/catkin/bin/catkin_make_isolated -j1 --install --install-space /opt/ros/kinetic -DCMAKE_BUILD_TYPE=Release --pkg p2os_driver

Is there something I am doing wrong with dependencies ? I created "test" package in catkin_ws doing

catkin_create_pkg test rospy p2os_driver nav_msgs tf

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Originally posted by r00t8 on ROS Answers with karma: 15 on 2018-05-15

Post score: 0

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Original comments

Comment by gvdhoorn on 2018-05-16:\

Project 'test' tried to find library 'p2os_driver'.

could you show the CMakeLists.txt of the test pkg that you created? Please omit all the boilerplate comments (lines starting with #), they are not needed.

Comment by r00t8 on 2018-05-16:
project(test)

find_package(catkin REQUIRED COMPONENTS nav_msgs p2os_driver rospy tf )

Answer 1

Overlaying (or chaining) is what would probably be the most natural (and efficient) way to do this.

I would:

1. make sure you've not sourced anything
2. source your current ros_catkin_ws (either devel or install, depending on how you set things up)
3. go to the root of your new catkin ws
4. run catkin_make

This should build just the new package, while making use of the other workspace as the underlay that contains all the base ROS packages.

After building, source the devel/setup.bash of your new workspace and everything should work.

PS: I've left out the step making sure all dependencies of your new package are actually present on your Pi. If they aren't, you'll need to fix that before trying to build.

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Edit:

When running catkin_make in my second worspace (catkin_ws), I got this (after having sourced ros_catkin_ws/devel/setup.bash)

From your later comment you appear to have an install space under /opt/ros/kinetic. I would recommend you source that, not the devel space of your underlying workspace.

re: cannot find p2os_driver: if you open a new terminal (make sure to not auto-source anything), source /opt/ros/kinetic/setup.bash and then do a rospack find p2os_driver, does that return successfully?

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Edit2: I believe you're running into this issue because the CMakeLists.txt of the p2os_driver package is faulty.

It has this (from here):

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES p2os_driver
  CATKIN_DEPENDS p2os_msgs nav_msgs roscpp geometry_msgs diagnostic_updater tf std_msgs kdl_parser
)

Notice the LIBRARIES p2os_driver bit.

That makes Catkin believe that this package produces a library called libp2os_driver.so, and it will export that information to whoever find_package(catkin .. COMPONENTS p2os_driver ..). This is passed to CMake, and it will start looking for that library.

But p2os_driver does not build any libraries, only a single executable binary and that is called p2os_driver (here). That is most likely the cause of your problems.

For now: remove (or comment) the LIBRARIES p2os_driver line from the catkin_package(..) statement in the CMakeLists.txt of the p2os_driver package. You'll have to rebuild the package, and have Catkin install it to your install space as well.

And please report this in an issue over at allenh1/p2os/issues.

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Originally posted by gvdhoorn with karma: 86574 on 2018-05-15

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by r00t8 on 2018-05-16:
Yes, gives me /opt/ros/kinetic/share/p2os_driver

Comment by gvdhoorn on 2018-05-16:
Ok. Can you try what you did earlier, but now after source-ing /opt/ros/kinetic as you did just now?

Comment by r00t8 on 2018-05-16:
Exactly the same error that previously when source-ing ~/ros_catkin_ws/devel/

Comment by r00t8 on 2018-05-16:
Editing CMakeLists.txt from p2os_driver package worked. Thanks for your help.

Comment by gvdhoorn on 2018-05-16:
Could you please post a link to the issue over at allenh1/p2os so we keep things connected?