Building RTT msgs from rosbuild package in ROS Indigo

Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?

Kind regards,

Jon

Ruben Smits's picture

Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...>
wrote:

> Hi,
>
> I have a ROS groovy package which I made an Orocos RTT of. This works
> perfectly in ROS Groovy by simply performing:
>
> rosrun rtt_rosnode create_rtt_msgs
> *file rosmake *
>
> *file*Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
> I have tried two methods:
> First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
> But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.
>
> This is my original CMakeList.txt of the RTT package in Groovy:
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> * cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) # Set the build type. Options are: # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage # Debug : w/ debug symbols, w/o optimization # Release : w/o debug symbols, w/ optimization # RelWithDebInfo : w/ debug symbols, w/ optimization # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries set(ROS_BUILD_TYPE MinSizeRel) rosbuild_init() rosbuild_include(rtt_rosnode GenerateRTTtypekit) find_package(roscpp) ros_generate_rtt_typekit(MyPackage)*The original manifest.xml in Groovy:
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> * <package> <description brief="rtt_MyPackage"> Provides an rtt typekit for ROS MyPackage messages. </description> <author>create_rtt_msgs Generator</author> <license>BSD</license> <review status="unreviewed" notes=""/> <url>http://ros.org/wiki/rtt_rosnode <http://ros.org/wiki/rtt_rosnode></url> <depend package="rtt_rosnode"/> <depend package="MyPackage"/> <depend package="rtt_std_msgs"/> <depend package="rtt_rosgraph_msgs"/> <depend package="rtt_geometry_msgs"/> <depend package="rtt_sensor_msgs"/> <export> <cpp cflags="-I${prefix}/include"/> </export> </package>*The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
> From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
> I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:
>
> * rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)*
>
> But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
> I have no idea how to fix this.
>
> My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:
>
>
> * rosrun rtt_roscomm create_rtt_msgs file*
> The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
> CMakeLists.txt:
>
> cmake_minimum_required(VERSION 2.8.3)
> project(rtt_Mypackage)
>
> find_package(catkin REQUIRED COMPONENTS rtt_roscomm)
>
> ros_generate_rtt_typekit(MyPackage)
> ros_generate_rtt_service_proxies(MyPackage)
>
> orocos_generate_package(
> DEPENDS MyPackage
> DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
> rtt_rosgraph_msgs
> rtt_geometry_msgs
> rtt_sensor_msgs
>
> )
>
>
> package.xml:
>
> <package>
> <name>rtt_MyPackage</name>
> <version>0.0.0</version>
> <description>
>
> Provides an rtt typekit for ROS MyPackage messages.
>
> <buildtool_depend>catkin</buildtool_depend>
>
> <build_depend>MyPackage</build_depend>
> <build_depend>rtt_roscomm</build_depend>
>
> <run_depend>MyPackage</run_depend>
> <run_depend>rtt_roscomm</run_depend>
>
> <build_depend>rtt_std_msgs</build_depend>
> <run_depend>rtt_std_msgs</run_depend>
> <build_depend>rtt_rosgraph_msgs</build_depend>
> <run_depend>rtt_rosgraph_msgs</run_depend>
> <build_depend>rtt_geometry_msgs</build_depend>
> <run_depend>rtt_geometry_msgs</run_depend>
> <build_depend>rtt_sensor_msgs</build_depend>
> <run_depend>rtt_sensor_msgs</run_depend>
>
> <export>
> <rtt_ros>
> <plugin_depend>rtt_roscomm</plugin_depend>
> <plugin_depend>rtt_std_msgs</plugin_depend>
> <plugin_depend>rtt_rosgraph_msgs</plugin_depend>
> <plugin_depend>rtt_geometry_msgs</plugin_depend>
> <plugin_depend>rtt_sensor_msgs</plugin_depend>
>
> </rtt_ros>
> </export>
>
> </package>
>
> When I try rosmake it cannot find something to build.
> I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
> I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
> I don't know how to fix this.
>
> Any thoughts on how to fix this and what/which method I should use?
>
> Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

>
> Kind regards,
>
> Jon
>
>
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>

Building RTT msgs from rosbuild package in ROS Indigo

I tried that, it was the second method I described, but it gives me a catkin package and I need a rosbuild…

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...]
Verzonden: dinsdag 7 juli 2015 8:39
Aan: Jon Verbeke
CC: orocos-users [..] ...
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?
Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

Kind regards,

Jon

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
________________________________
Geen virus gevonden in dit bericht.
Gecontroleerd door AVG - www.avg.com<http://www.avg.com>
Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte: 07/06/15

Building RTT msgs from rosbuild package in ROS Indigo

Hi Jon,

indeed you cannot use the create_rtt_msgs tool from the hydro-devel or
indigo-devel branch of rtt_ros_integration to create a rosbuild package.
However, on the cmake level the buildsystems can still be exchanged and the
new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.

I added a small example here:
https://github.com/meyerj/rtt_ros_examples

I verified that it still works with ROS indigo + rosbuild with the current
indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7 or 2.8.

Johannes

On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...> wrote:

> I tried that, it was the second method I described, but it gives me a
> catkin package and I need a rosbuild…
>
>
>
> *Van:* Ruben Smits [mailto:ruben [dot] smits [..] ...]
> *Verzonden:* dinsdag 7 juli 2015 8:39
> *Aan:* Jon Verbeke
> *CC:* orocos-users [..] ...
> *Onderwerp:* Re: [Orocos-users] Building RTT msgs from rosbuild package
> in ROS Indigo
>
>
>
>
>
>
>
> On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...>
> wrote:
>
> Hi,
>
> I have a ROS groovy package which I made an Orocos RTT of. This works
> perfectly in ROS Groovy by simply performing:
>
> rosrun rtt_rosnode create_rtt_msgs
>
>
> *file rosmake file*Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
> I have tried two methods:
> First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
> But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.
>
> This is my original CMakeList.txt of the RTT package in Groovy:
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> * cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) # Set the build type. Options are: # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage # Debug : w/ debug symbols, w/o optimization # Release : w/o debug symbols, w/ optimization # RelWithDebInfo : w/ debug symbols, w/ optimization # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries set(ROS_BUILD_TYPE MinSizeRel) rosbuild_init() rosbuild_include(rtt_rosnode GenerateRTTtypekit) find_package(roscpp) ros_generate_rtt_typekit(MyPackage)*The original manifest.xml in Groovy:
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> * <package> <description brief="rtt_MyPackage"> Provides an rtt typekit for ROS MyPackage messages. </description> <author>create_rtt_msgs Generator</author> <license>BSD</license> <review status="unreviewed" notes=""/> <url>http://ros.org/wiki/rtt_rosnode <http://ros.org/wiki/rtt_rosnode></url> <depend package="rtt_rosnode"/> <depend package="MyPackage"/> <depend package="rtt_std_msgs"/> <depend package="rtt_rosgraph_msgs"/>*
>
>
>
>
>
>
>
>
> * <depend package="rtt_geometry_msgs"/> <depend package="rtt_sensor_msgs"/> <export> <cpp cflags="-I${prefix}/include"/> </export> </package>*The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
> From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
> I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:
>
> * rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)*
>
> But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
> I have no idea how to fix this.
>
> My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:
>
>
> * rosrun rtt_roscomm create_rtt_msgs file*
> The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
> CMakeLists.txt:
>
> cmake_minimum_required(VERSION 2.8.3)
> project(rtt_Mypackage)
>
> find_package(catkin REQUIRED COMPONENTS rtt_roscomm)
>
> ros_generate_rtt_typekit(MyPackage)
> ros_generate_rtt_service_proxies(MyPackage)
>
> orocos_generate_package(
> DEPENDS MyPackage
> DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
> rtt_rosgraph_msgs
> rtt_geometry_msgs
> rtt_sensor_msgs
>
> )
>
>
> package.xml:
>
> <package>
> <name>rtt_MyPackage</name>
> <version>0.0.0</version>
> <description>
>
> Provides an rtt typekit for ROS MyPackage messages.
>
> <buildtool_depend>catkin</buildtool_depend>
>
> <build_depend>MyPackage</build_depend>
> <build_depend>rtt_roscomm</build_depend>
>
> <run_depend>MyPackage</run_depend>
> <run_depend>rtt_roscomm</run_depend>
>
> <build_depend>rtt_std_msgs</build_depend>
> <run_depend>rtt_std_msgs</run_depend>
> <build_depend>rtt_rosgraph_msgs</build_depend>
> <run_depend>rtt_rosgraph_msgs</run_depend>
> <build_depend>rtt_geometry_msgs</build_depend>
> <run_depend>rtt_geometry_msgs</run_depend>
> <build_depend>rtt_sensor_msgs</build_depend>
> <run_depend>rtt_sensor_msgs</run_depend>
>
> <export>
> <rtt_ros>
> <plugin_depend>rtt_roscomm</plugin_depend>
> <plugin_depend>rtt_std_msgs</plugin_depend>
> <plugin_depend>rtt_rosgraph_msgs</plugin_depend>
> <plugin_depend>rtt_geometry_msgs</plugin_depend>
> <plugin_depend>rtt_sensor_msgs</plugin_depend>
>
> </rtt_ros>
> </export>
>
> </package>
>
> When I try rosmake it cannot find something to build.
> I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
> I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
> I don't know how to fix this.
>
> Any thoughts on how to fix this and what/which method I should use?
>
> Since it's just a msg typekit package you could also try:
>
>
>
> rosrun rtt_roscomm create_rtt_msgs
>
>
>
> R.
>
>
> Kind regards,
>
> Jon
>
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
>
>
>
> --
>
> Ruben Smits, Roboticist - Founder
> +32 479 511 786
> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
> www.intermodalics.eu
> ------------------------------
>
> Geen virus gevonden in dit bericht.
> Gecontroleerd door AVG - www.avg.com
> Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte:
> 07/06/15
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>

Building RTT msgs from rosbuild package in ROS Indigo

Hi Johannes,

Thank you for the support. Do you happen to have the same small example, but for the catkin build system instead of rosbuild? I am struggling a bit on converting a typekit, and having an example might do the trick.

Many thanks,
Wilm

________________________________
From: orocos-users-bounces [..] ... [orocos-users-bounces [..] ...] on behalf of Johannes Meyer [johannes [..] ...]
Sent: Thursday, July 09, 2015 11:51 AM
To: Jon Verbeke
Cc: orocos-users [..] ...
Subject: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Jon,

indeed you cannot use the create_rtt_msgs tool from the hydro-devel or indigo-devel branch of rtt_ros_integration to create a rosbuild package. However, on the cmake level the buildsystems can still be exchanged and the new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.

I added a small example here:
https://github.com/meyerj/rtt_ros_examples

I verified that it still works with ROS indigo + rosbuild with the current indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7 or 2.8.

Johannes

On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
I tried that, it was the second method I described, but it gives me a catkin package and I need a rosbuild…

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...<mailto:ruben [dot] smits [..] ...>]
Verzonden: dinsdag 7 juli 2015 8:39
Aan: Jon Verbeke
CC: orocos-users [..] ...<mailto:orocos-users [..] ...>
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?
Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

Kind regards,

Jon

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Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
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--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
________________________________
Geen virus gevonden in dit bericht.
Gecontroleerd door AVG - www.avg.com<http://www.avg.com>
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--
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Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
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--
Johannes Meyer, Senior Application Engineer
+32 468 139828
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>

Building RTT msgs from rosbuild package in ROS Indigo

Hi Wilm,

catkin typekit packages can simply be created with the create_rtt_msgs tool
that comes with the rtt_roscomm package in hydro-devel and newer.
I added an example for control_msgs <http://wiki.ros.org/control_msgs>
here:
https://github.com/meyerj/rtt_ros_examples/tree/master/catkin/rtt_contro...

Johannes

On Wed, Jul 15, 2015 at 1:06 PM, Wilm Decré <Wilm [dot] Decre [..] ...> wrote:

> Hi Johannes,
>
> Thank you for the support. Do you happen to have the same small example,
> but for the catkin build system instead of rosbuild? I am struggling a bit
> on converting a typekit, and having an example might do the trick.
>
> Many thanks,
> Wilm
>
> ------------------------------
> *From:* orocos-users-bounces [..] ... [
> orocos-users-bounces [..] ...] on behalf of Johannes Meyer [
> johannes [..] ...]
> *Sent:* Thursday, July 09, 2015 11:51 AM
> *To:* Jon Verbeke
> *Cc:* orocos-users [..] ...
> *Subject:* Re: [Orocos-users] Building RTT msgs from rosbuild package in
> ROS Indigo
>
> Hi Jon,
>
> indeed you cannot use the create_rtt_msgs tool from the hydro-devel or
> indigo-devel branch of rtt_ros_integration to create a rosbuild package.
> However, on the cmake level the buildsystems can still be exchanged and the
> new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.
>
> I added a small example here:
> https://github.com/meyerj/rtt_ros_examples
>
> I verified that it still works with ROS indigo + rosbuild with the
> current indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7
> or 2.8.
>
> Johannes
>
>
>
> On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...>
> wrote:
>
>> I tried that, it was the second method I described, but it gives me a
>> catkin package and I need a rosbuild…
>>
>>
>>
>> *Van:* Ruben Smits [mailto:ruben [dot] smits [..] ...]
>> *Verzonden:* dinsdag 7 juli 2015 8:39
>> *Aan:* Jon Verbeke
>> *CC:* orocos-users [..] ...
>> *Onderwerp:* Re: [Orocos-users] Building RTT msgs from rosbuild package
>> in ROS Indigo
>>
>>
>>
>>
>>
>>
>>
>> On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...>
>> wrote:
>>
>> Hi,
>>
>> I have a ROS groovy package which I made an Orocos RTT of. This works
>> perfectly in ROS Groovy by simply performing:
>>
>> rosrun rtt_rosnode create_rtt_msgs
>>
>>
>> *file rosmake file*Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
>> I have tried two methods:
>> First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
>> But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.
>>
>> This is my original CMakeList.txt of the RTT package in Groovy:
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>> * cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) # Set the build type. Options are: # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage # Debug : w/ debug symbols, w/o optimization # Release : w/o debug symbols, w/ optimization # RelWithDebInfo : w/ debug symbols, w/ optimization # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries set(ROS_BUILD_TYPE MinSizeRel) rosbuild_init() rosbuild_include(rtt_rosnode GenerateRTTtypekit) find_package(roscpp) ros_generate_rtt_typekit(MyPackage)*The original manifest.xml in Groovy:
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>
>> * <package> <description brief="rtt_MyPackage"> Provides an rtt typekit for ROS MyPackage messages. </description> <author>create_rtt_msgs Generator</author> <license>BSD</license> <review status="unreviewed" notes=""/> <url>http://ros.org/wiki/rtt_rosnode <http://ros.org/wiki/rtt_rosnode></url> <depend package="rtt_rosnode"/> <depend package="MyPackage"/> <depend package="rtt_std_msgs"/> <depend package="rtt_rosgraph_msgs"/>*
>>
>>
>>
>>
>>
>>
>>
>>
>> * <depend package="rtt_geometry_msgs"/> <depend package="rtt_sensor_msgs"/> <export> <cpp cflags="-I${prefix}/include"/> </export> </package>*The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>> From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
>> I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:
>>
>> * rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)*
>>
>> But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
>> I have no idea how to fix this.
>>
>> My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:
>>
>>
>> * rosrun rtt_roscomm create_rtt_msgs file*
>> The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
>> CMakeLists.txt:
>>
>> cmake_minimum_required(VERSION 2.8.3)
>> project(rtt_Mypackage)
>>
>> find_package(catkin REQUIRED COMPONENTS rtt_roscomm)
>>
>> ros_generate_rtt_typekit(MyPackage)
>> ros_generate_rtt_service_proxies(MyPackage)
>>
>> orocos_generate_package(
>> DEPENDS MyPackage
>> DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
>> rtt_rosgraph_msgs
>> rtt_geometry_msgs
>> rtt_sensor_msgs
>>
>> )
>>
>>
>> package.xml:
>>
>> <package>
>> <name>rtt_MyPackage</name>
>> <version>0.0.0</version>
>> <description>
>>
>> Provides an rtt typekit for ROS MyPackage messages.
>>
>> <buildtool_depend>catkin</buildtool_depend>
>>
>> <build_depend>MyPackage</build_depend>
>> <build_depend>rtt_roscomm</build_depend>
>>
>> <run_depend>MyPackage</run_depend>
>> <run_depend>rtt_roscomm</run_depend>
>>
>> <build_depend>rtt_std_msgs</build_depend>
>> <run_depend>rtt_std_msgs</run_depend>
>> <build_depend>rtt_rosgraph_msgs</build_depend>
>> <run_depend>rtt_rosgraph_msgs</run_depend>
>> <build_depend>rtt_geometry_msgs</build_depend>
>> <run_depend>rtt_geometry_msgs</run_depend>
>> <build_depend>rtt_sensor_msgs</build_depend>
>> <run_depend>rtt_sensor_msgs</run_depend>
>>
>> <export>
>> <rtt_ros>
>> <plugin_depend>rtt_roscomm</plugin_depend>
>> <plugin_depend>rtt_std_msgs</plugin_depend>
>> <plugin_depend>rtt_rosgraph_msgs</plugin_depend>
>> <plugin_depend>rtt_geometry_msgs</plugin_depend>
>> <plugin_depend>rtt_sensor_msgs</plugin_depend>
>>
>> </rtt_ros>
>> </export>
>>
>> </package>
>>
>> When I try rosmake it cannot find something to build.
>> I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
>> I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
>> I don't know how to fix this.
>>
>> Any thoughts on how to fix this and what/which method I should use?
>>
>> Since it's just a msg typekit package you could also try:
>>
>>
>>
>> rosrun rtt_roscomm create_rtt_msgs
>>
>>
>>
>> R.
>>
>>
>> Kind regards,
>>
>> Jon
>>
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>>
>>
>>
>>
>> --
>>
>> Ruben Smits, Roboticist - Founder
>> +32 479 511 786
>> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
>> www.intermodalics.eu
>> ------------------------------
>>
>> Geen virus gevonden in dit bericht.
>> Gecontroleerd door AVG - www.avg.com
>> Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte:
>> 07/06/15
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>>
>
>
> --
> Johannes Meyer, Senior Application Engineer
> +32 468 139828
> Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
> www.intermodalics.eu
>

Building RTT msgs from rosbuild package in ROS Indigo

great!

Wilm

________________________________
From: Johannes Meyer [johannes [..] ...]
Sent: Thursday, July 16, 2015 10:58 AM
To: Wilm Decré
Cc: orocos-users [..] ...
Subject: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Wilm,

catkin typekit packages can simply be created with the create_rtt_msgs tool that comes with the rtt_roscomm package in hydro-devel and newer.
I added an example for control_msgs<http://wiki.ros.org/control_msgs> here: https://github.com/meyerj/rtt_ros_examples/tree/master/catkin/rtt_contro...

Johannes

On Wed, Jul 15, 2015 at 1:06 PM, Wilm Decré <Wilm [dot] Decre [..] ...<mailto:Wilm [dot] Decre [..] ...>> wrote:
Hi Johannes,

Thank you for the support. Do you happen to have the same small example, but for the catkin build system instead of rosbuild? I am struggling a bit on converting a typekit, and having an example might do the trick.

Many thanks,
Wilm

________________________________
From: orocos-users-bounces [..] ...<mailto:orocos-users-bounces [..] ...> [orocos-users-bounces [..] ...<mailto:orocos-users-bounces [..] ...>] on behalf of Johannes Meyer [johannes [..] ...<mailto:johannes [..] ...>]
Sent: Thursday, July 09, 2015 11:51 AM
To: Jon Verbeke
Cc: orocos-users [..] ...<mailto:orocos-users [..] ...>
Subject: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Jon,

indeed you cannot use the create_rtt_msgs tool from the hydro-devel or indigo-devel branch of rtt_ros_integration to create a rosbuild package. However, on the cmake level the buildsystems can still be exchanged and the new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.

I added a small example here:
https://github.com/meyerj/rtt_ros_examples

I verified that it still works with ROS indigo + rosbuild with the current indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7 or 2.8.

Johannes

On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
I tried that, it was the second method I described, but it gives me a catkin package and I need a rosbuild…

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...<mailto:ruben [dot] smits [..] ...>]
Verzonden: dinsdag 7 juli 2015 8:39
Aan: Jon Verbeke
CC: orocos-users [..] ...<mailto:orocos-users [..] ...>
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?
Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

Kind regards,

Jon

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
________________________________
Geen virus gevonden in dit bericht.
Gecontroleerd door AVG - www.avg.com<http://www.avg.com>
Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte: 07/06/15

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Johannes Meyer, Senior Application Engineer
+32 468 139828
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>

--
Johannes Meyer, Senior Application Engineer
+32 468 139828
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>

Building RTT msgs from rosbuild package in ROS Indigo

Hi Johannes,

Thanks for this!

I've currently solved it by finding a catkin version of my package and then using create_rtt_msgs tool but this required a lot more work as I had to manually adapt the package with my changes adn also had to battle rosbuild and catkin workspaces overlays. It works but I prefer to avoid this (messy) solution.

Your method should be much easier and I will test it in the following days as soon as I have the chance. I'll keep you updated.

Regards,

Jon
________________________________
Van: Johannes Meyer [johannes [..] ...]
Verzonden: donderdag 9 juli 2015 11:51
Aan: Jon Verbeke
CC: Ruben Smits; orocos-users [..] ...
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Jon,

indeed you cannot use the create_rtt_msgs tool from the hydro-devel or indigo-devel branch of rtt_ros_integration to create a rosbuild package. However, on the cmake level the buildsystems can still be exchanged and the new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.

I added a small example here:
https://github.com/meyerj/rtt_ros_examples

I verified that it still works with ROS indigo + rosbuild with the current indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7 or 2.8.

Johannes

On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
I tried that, it was the second method I described, but it gives me a catkin package and I need a rosbuild…

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...<mailto:ruben [dot] smits [..] ...>]
Verzonden: dinsdag 7 juli 2015 8:39
Aan: Jon Verbeke
CC: orocos-users [..] ...<mailto:orocos-users [..] ...>
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?
Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

Kind regards,

Jon

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
________________________________
Geen virus gevonden in dit bericht.
Gecontroleerd door AVG - www.avg.com<http://www.avg.com>
Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte: 07/06/15

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Johannes Meyer, Senior Application Engineer
+32 468 139828
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>

Building RTT msgs from rosbuild package in ROS Indigo

Worked perfectly!
Thanks.

Jon
________________________________
Van: Jon Verbeke
Verzonden: donderdag 9 juli 2015 13:36
Aan: Johannes Meyer
CC: Ruben Smits; orocos-users [..] ...
Onderwerp: RE: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Johannes,

Thanks for this!

I've currently solved it by finding a catkin version of my package and then using create_rtt_msgs tool but this required a lot more work as I had to manually adapt the package with my changes adn also had to battle rosbuild and catkin workspaces overlays. It works but I prefer to avoid this (messy) solution.

Your method should be much easier and I will test it in the following days as soon as I have the chance. I'll keep you updated.

Regards,

Jon
________________________________
Van: Johannes Meyer [johannes [..] ...]
Verzonden: donderdag 9 juli 2015 11:51
Aan: Jon Verbeke
CC: Ruben Smits; orocos-users [..] ...
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

Hi Jon,

indeed you cannot use the create_rtt_msgs tool from the hydro-devel or indigo-devel branch of rtt_ros_integration to create a rosbuild package. However, on the cmake level the buildsystems can still be exchanged and the new cmake macros in rtt_roscomm can also be invoked in a rosbuild package.

I added a small example here:
https://github.com/meyerj/rtt_ros_examples

I verified that it still works with ROS indigo + rosbuild with the current indigo-devel branch of rtt_ros_integration and Orocos toolchain 2.7 or 2.8.

Johannes

On Tue, Jul 7, 2015 at 8:42 AM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
I tried that, it was the second method I described, but it gives me a catkin package and I need a rosbuild…

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...<mailto:ruben [dot] smits [..] ...>]
Verzonden: dinsdag 7 juli 2015 8:39
Aan: Jon Verbeke
CC: orocos-users [..] ...<mailto:orocos-users [..] ...>
Onderwerp: Re: [Orocos-users] Building RTT msgs from rosbuild package in ROS Indigo

On Mon, Jul 6, 2015 at 12:27 PM, Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

I have a ROS groovy package which I made an Orocos RTT of. This works perfectly in ROS Groovy by simply performing:

rosrun rtt_rosnode create_rtt_msgs file
rosmake file

Now, I am porting this package currently working in ROS Groovy + rosbuild +12.04 to ROS Indigo + Rosbuild +14.04. (Both Orocos toolchain 2.7)
I have tried two methods:
First, I directly copied the (cleaned) RTT file itself as and just tried rosmake again.
But the problem is that Orocos Indigo version is different from Groovy: rosnode no longer has the method create_rtt_smgs.

This is my original CMakeList.txt of the RTT package in Groovy:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE MinSizeRel)

rosbuild_init()

rosbuild_include(rtt_rosnode GenerateRTTtypekit)

find_package(roscpp)

ros_generate_rtt_typekit(MyPackage)

The original manifest.xml in Groovy:

<package>
<description brief="rtt_MyPackage">

Provides an rtt typekit for ROS MyPackage messages.

</description>
<author>create_rtt_msgs Generator</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="rtt_rosnode"/>
<depend package="MyPackage"/>
<depend package="rtt_std_msgs"/>
<depend package="rtt_rosgraph_msgs"/>
<depend package="rtt_geometry_msgs"/>
<depend package="rtt_sensor_msgs"/>

<export>
<cpp cflags="-I${prefix}/include"/>
</export>
</package>

The problem is that it cannot find GenerateRTTtypekit nor ros_generate_rtt_typekit anymore as orocos structure differs in Indigo.
>From what I can find out, GenerateRTTtypekit is now in rtt_roscomm under GenerateRTTROSCommPackage,
I added the rtt-roscomm package to my manifest and replaced the rosnode with the following in my CMakeLists.txt:

rosbuild_include(rtt_roscomm GenerateRTTROSCommPackage)

But fails the rosmake stating: it failed to include the GenerateRTTROSCommPackage from rtt_roscomm.
I have no idea how to fix this.

My second method I tried was to redo the create_rtt_msgs command, which as far as I can tell now in rtt_roscomm:

rosrun rtt_roscomm create_rtt_msgs file

The problem here is that it creates a catkin rtt package as the orocos toolchain is now catkinized:
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(rtt_Mypackage)

find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

ros_generate_rtt_typekit(MyPackage)
ros_generate_rtt_service_proxies(MyPackage)

orocos_generate_package(
DEPENDS MyPackage
DEPENDS_TARGETS rtt_roscomm rtt_std_msgs
rtt_rosgraph_msgs
rtt_geometry_msgs
rtt_sensor_msgs

)

package.xml:

<package>
<name>rtt_MyPackage</name>
<version>0.0.0</version>
<description>

Provides an rtt typekit for ROS MyPackage messages.

<buildtool_depend>catkin</buildtool_depend>

<build_depend>MyPackage</build_depend>
<build_depend>rtt_roscomm</build_depend>

<run_depend>MyPackage</run_depend>
<run_depend>rtt_roscomm</run_depend>

<build_depend>rtt_std_msgs</build_depend>
<run_depend>rtt_std_msgs</run_depend>
<build_depend>rtt_rosgraph_msgs</build_depend>
<run_depend>rtt_rosgraph_msgs</run_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<build_depend>rtt_sensor_msgs</build_depend>
<run_depend>rtt_sensor_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_std_msgs</plugin_depend>
<plugin_depend>rtt_rosgraph_msgs</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
<plugin_depend>rtt_sensor_msgs</plugin_depend>

</rtt_ros>
</export>

</package>

When I try rosmake it cannot find something to build.
I would need to do it through catkin_make, but my packages are in a rosbuild (rosws) environment...
I tried moving the RTT package to a catkin workspace and build it there, but to no avail.
I don't know how to fix this.

Any thoughts on how to fix this and what/which method I should use?
Since it's just a msg typekit package you could also try:

rosrun rtt_roscomm create_rtt_msgs

R.

Kind regards,

Jon

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
________________________________
Geen virus gevonden in dit bericht.
Gecontroleerd door AVG - www.avg.com<http://www.avg.com>
Versie: 2015.0.6037 / Virusdatabase: 4365/10174 - datum van uitgifte: 07/06/15

--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

--
Johannes Meyer, Senior Application Engineer
+32 468 139828
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>