I am trying to build 2 new nodes, based on the minimal_publisher and minimal_subscriber examples provided by the ros2_ws overlay workspace. I have copied and pasted my code from the examples, with the intention to change them in the near future.
I then changed the names of the source files, and the name of the package, among other names. To ensure a successful build, I made several corresponding changes to the CMakeLists.txt and package.xml of each package as well.
Both packages built successfully. However, the only way I can run them is if I locate the binary files in the install directory of the ros2_ws workspace and run them from there.
If I run ros2 pkg list or ros2 pkg executables, none of my packages show up there. Predictably, when I run ros2 run publisht tester_publisht (publisht is the name of my pkg and tester_publisht is the name of the executable) , it just shows Package 'publisht' not found.
Why is it that ros2 pkg cannot find my package?
My publisht package in the install directory of ros2_ws:
publisht
├── lib
│ └── publisht
│ └── tester_publisht
└── share
├── ament_index
│ └── resource_index
│ ├── package_run_dependencies
│ │ └── publisht
│ ├── packages
│ │ └── publisht
│ └── parent_prefix_path
│ └── publisht
├── colcon-core
│ └── packages
│ └── publisht
└── publisht
├── cmake
│ ├── publishtConfig.cmake
│ └── publishtConfig-version.cmake
├── environment
│ ├── ament_prefix_path.sh -> /home/user/ros2_ws/src/ament/ament_cmake/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
│ └── path.sh -> /home/user/ros2_ws/src/ament/ament_cmake/ament_cmake_core/cmake/environment_hooks/environment/path.sh
├── hook
│ ├── cmake_prefix_path.ps1
│ └── cmake_prefix_path.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── package.bash
├── package.ps1
├── package.sh
├── package.xml
└── package.zsh
My tester directory in ros2_ws/src, which contains the source code for the 2 nodes I intend to make, publisht and subscribet:
tester
├── publisht
│ ├── CMakeLists.txt
│ ├── package.xml
│ ├── publisht.cpp
│ └── README.md
├── README.md
└── subscribet
├── CMakeLists.txt
├── package.xml
├── README.md
└── subscribet.cpp
My CMakeLists.txt for publisht:
cmake_minimum_required(VERSION 3.5)
project(publisht)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(tester_publisht publisht.cpp)
ament_target_dependencies(tester_publisht rclcpp std_msgs)
install(TARGETS
tester_publisht
DESTINATION lib/${PROJECT_NAME}
)
ament_package()
And my package.xml for publisht:
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>publisht</name>
<version>0.6.3</version>
<description>Ready to publish to topics from selected nodes</description>
<maintainer email="[email protected]">MAINTAINER</maintainer>
<license>Apache License 2.0</license>
<author>AUTHOR</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Originally posted by wan_da on ROS Answers with karma: 57 on 2019-06-10
Post score: 1
Original comments
Comment by wan_da on 2019-06-10:
Yes, it worked. My bad; I thought that since I sourced the setup.bash in my .bashrc I didn't need to source it again. Apparently I need to source it again after I built publisht.
Thank you very much.