Embedded Motion Control/Tutorials/Creating a ROS package

Description: This tutorial covers using roscreate-pkg or catkin to create a new package, and rospack to list package dependencies.

Using roscreate

Before we create a package, let's see how the roscreate-pkg command-line tool works. This creates a new ROS package. All ROS packages consist of the many similar files : manifests, CMakeLists.txt, mainpage.dox, and Makefiles. roscreate-pkg eliminates many tedious tasks of creating a new package by hand, and eliminates common errors caused by hand-typing build files and manifests.

To create a new package in the current directory:

1. roscreate-pkg [package_name]

You can also specify dependencies of that package:

1. roscreate-pkg [package_name] [depend1] [depend2] [depend3]

Creating a New ROS Package

Now we're going to go into your home or project directory and create our beginner_tutorials package. We are going to make it depend on std_msgs, roscpp, and rospy, which are common ROS packages.

Now go into the ~/fuerte_workspace/sandbox directory:

$ cd ~/fuerte_workspace/sandbox Alternatively, if you use Fuerte or later release, you can simply do:

$ roscd $ cd sandbox Then create your package:

$ roscreate-pkg beginner_tutorials std_msgs rospy roscpp You will see something similar to:

Creating package directory ~/fuerte_workspace/sandbox/beginner_tutorials Creating include directory ~/fuerte_workspace/sandbox/beginner_tutorials/include/beginner_tutorials Creating cpp source directory ~/ros/ros_tutorials/beginner_tutorials/src Creating python source directory ~/fuerte_workspace/sandbox/beginner_tutorials/src/beginner_tutorials Creating package file ~/fuerte_workspace/sandbox/beginner_tutorials/Makefile Creating package file ~/fuerte_workspace/sandbox/beginner_tutorials/manifest.xml Creating package file ~/fuerte_workspace/sandbox/beginner_tutorials/CMakeLists.txt Creating package file ~/fuerte_workspace/sandbox/beginner_tutorials/mainpage.dox

Please edit beginner_tutorials/manifest.xml and mainpage.dox to finish creating your package You're going to want to spend some time looking at beginner_tutorials/manifest.xml. manifests play an important role in ROS as they define how Packages are built, run, and documented.

Now lets make sure that ROS can find your new package. It is often useful to call rospack profile after making changes to your path so that new directories will be found:

$ rospack profile $ rospack find beginner_tutorials YOUR_PACKAGE_PATH/beginner_tutorials If this fails, it means ROS can't find your new package, which may be an issue with your ROS_PACKAGE_PATH. Please consult the installation instructions for setup from SVN or from binaries, depending how you installed ROS. If you've created or added a package that's outside of the existing package paths, you will need to amend your ROS_PACKAGE_PATH environment variable to include that new location. Try re-sourcing your setup.sh in your fuerte_workspace.

Try moving to the directory for the package.

$ roscd beginner_tutorials $ pwd YOUR_PACKAGE_PATH/beginner_tutorials

First-order package dependencies

When using roscreate-pkg earlier, a few package dependencies were provided. These first-order dependencies can now be reviewed with the rospack tool.

(Jan 9, 2013) There is a bug reported and already fixed in rospack in groovy; it may take some time to be reflected in the packages. If you see an issue similar to this with the next command, you can skip to the following command.

$ rospack depends1 beginner_tutorials std_msgs rospy roscpp As you can see, rospack lists the same dependencies that were used as arguments when running roscreate-pkg. These dependencies for a package are stored in the manifest file. Take a look at the manifest file.

$ roscd beginner_tutorials $ cat manifest.xml <package>

...

 <depend package="std_msgs"/>
 <depend package="rospy"/>
 <depend package="roscpp"/>

</package>

Indirect package dependencies

In many cases, a dependency will also have its own dependencies. For instance, rospy has other dependencies.

(Jan 9, 2013) There is a bug reported and already fixed in rospack in groovy; it may take some time to be reflected in the packages. If you see an issue similar to this with the next command, you can skip to the following command.

$ rospack depends1 rospy roslib roslang A package can have quite a few indirect dependencies. Luckily rospack can recursively determine all nested dependencies.

$ rospack depends beginner_tutorials rospack roslib std_msgs rosgraph_msgs rosbuild roslang rospy cpp_common roscpp_traits rostime roscpp_serialization xmlrpcpp rosconsole roscpp Note: in Fuerte, the list is much shorter:

std_msgs roslang rospy roscpp

ROS Client Libraries

You may be wondering what rospy and roscpp dependencies are from the previous examples. rospy and roscpp are Client Libraries. The client libraries allow different programming languages to communicate through ROS. rospy is the client library for Python. roscpp is the client library for C++.

Review

Lets just list some of the commands we've used so far:

roscreate-pkg = ros+create-pkg : generates all the files needed to create a ROS package rospack = ros+pack(age) : provides information related to ROS packages rosstack = ros+stack : provides information related to ROS stacks

Now that you've made a new ROS package, let's build our ROS package.