빌드 시스템

• catkin_make
• catkin build

The main difference is the isolated environment that you get with catkin build.

1. catkin make

정의 : Catkin is a CMAKE-based build system used to build ROS packages.

1.1 작업 공간 생성

# Create a new directory in your home folder:
$ mkdir -p ~/catkin_ws/src
#CD to that directory:
$ cd ~/catkin_ws/src
# Initialize the workspace:
$ catkin_init_workspace
# Build the empty catkin workspace
$ cd ~/catkin_ws
$ catkin_make
# Source the setup.sh file to load the environment setup
$ source ~/catkin_ws/devel/setup.sh

1.2 패키지 생성

# CD to your catkin_ws src directory:
$ cd ~/catkin_ws/src
# Create a new catkin package:
$ catkin_create_pkg turtlebot_dabit
$ catkin_create_pkg turtlebot_dabit roscpp #의존 패키징 지정
## catkin_create_pkg <새 패키지 이름> <패키지 Dependencies>`
## `<패키지 Dependencies>`는 생략 후 나중에 package.xml로 지정 가능

# CD into the new package:
$ cd turtlebot_dabit
# Make some directories for future use
$ mkdir launch
$ mkdir scripts
$ mkdir src

# You can build outside of the working directly by specifying --directory /path/to/catkin/ws:
$ catkin_make --directory ~/catkin_ws
# You can specify which packages to build using the --pkg argument:
$ catkin_make --pkg turtlebot_dabit

1.3 Building ROSPY with your Catkin Package

1.4 Building ROSCPP with your Catkin Package

1.5 후처리

# SOURCING CATKIN ENVIRONMENT - and automatically get it to source from now on
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/catkin_ws/devel/setup.bash; source ~/.bashrc
echo $ROS_PACKAGE_PATH

3. Sample CMakeLists.txt

Cpp Snippet

2. catkin build

1.1 설치

sudo apt-get install python-catkin-tools
sudo pip install -U catkin_tools

3.1 catkin build

#apt-get install python-catkin-tools

mkdir ~/catkin_workspace
cd ~/catkin_workspace
mkdir src
catkin init

1.2 명령어

• catkin init : 초기화 in ~/catkin_workspace/
• catkin create pkg pkg_a : 패키지 추가 in ~/catkin_workspace/src
  • catkin create pkg my_pcl_tutorial --catkin-deps pcl_ros roscpp sensor_msgs
• catkin build : 빌드 ~/catkin_ws/devel/lib/
• catkin list :

example

$ mkdir -p /tmp/path/to/my_catkin_ws/src      # Make a new workspace and source space
$ cd /tmp/path/to/my_catkin_ws                # Navigate to the workspace root
$ catkin init                                 # Initialize it with a hidden marker file
$ cd /tmp/path/to/my_catkin_ws/src            # Navigate to the source space
$ catkin create pkg pkg_a                     # Populate the source space with packages...
$ catkin create pkg pkg_b
$ catkin create pkg pkg_c --catkin-deps pkg_a
$ catkin create pkg pkg_d --catkin-deps pkg_a pkg_b
$ catkin build                                # Build all packages in the workspace
$ source ../devel/setup.bash                  # Load the workspace's environment
$ catkin clean --all                          # Clean the build products
$ catkin build pkg_d                          # Build `pkg_d` and its deps
$ cd /tmp/path/to/my_catkin_ws/src/pkg_c      # Navigate to `pkg_c`'s source directory
$ catkin build --this                         # Build `pkg_c` and its deps
$ catkin build --this --no-deps               # Rebuild only `pkg_c`

When should I use rosdep and when should I use apt or pip?

3. 패키지 설치 방법

3.1 소스 설치

# INDIGO VERSION
cd ~/catkin_ws/src/ && git clone https://github.com/ros-drivers/velodyne.git
cd velodyne/
rosdep install --from-paths ./ --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws/ && catkin_make

3.2 apt설치

apt-get install ros-$ROS_DISTRO-velodyne

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