I am using Ubuntu 20.04 LTS desktop and ros Noetic

i have installed this library robot_state_publisher for integrate the imu and Lidar,

when I clone the repo from GitHub in my workspace src folder then I came back to workspace and I did catkin_make

I want to use tf to get updated in real-time using this package

it gave me an Error : the Error is following:

-- ~~  - rviz_imu_plugin
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/aiot/ros_slam/build/CMakeFiles/CMakeOutput.log".
See also "/home/aiot/ros_slam/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed```

1 Answer 1


Please build the package with catkin_make_isolated instead of catkin_make.

  • catkin_make treats the entire workspace as a single cmake project, and builds it with a single invocation of cmake. Since catkin_make treats the entire workspace as a single package, it's faster for incremental builds that only change code, but slower when you need to regenerate the build files, and more sensitive to dependency issues between packages.
  • catkin_make_isolated treats each package as a separate cmake project, and builds and installs each separately, in dependency order. This is why it's able to build plain cmake packages.
  • $\begingroup$ after runing catkin_make_isolated it gives me an error like Error: Packages with unknown build types exist Can not build workspace with packages of unknown build_type $\endgroup$ Mar 21 at 2:50

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