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DENSORobot / denso_robot_ros

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add denso_robot_descriptions and robot_state_publisher to package.xml #43

Closed k-okada closed 2 years ago

ToshitakaSuzuki commented 2 years ago

@k-okada Thanks a lot for your contribution! One thing that I would like to confirm is that the commit is for solving any dependency issue? Because it seems that denso_robot_bringup with Gazebo simulation works correctly without those package description.

k-okada commented 2 years ago

launch/denso_robot_gazebo.launch uses denso_robot_descriptions package https://github.com/DENSORobot/denso_robot_ros/blob/d854e94dedab741f19f763186cc0b3ee2dea7f81/denso_robot_gazebo/launch/denso_robot_gazebo.launch#L13 but denso_robot_gazebo package did not depends on any other denso_* package

Thus, If we want to run roslaunch denso_robot_gazebo denso_robot_gazebo.launch, apt install ros-melodic-denso-robot-gazebo is not sufficient, we need to install other package.

There are useful tools named roslaunch-check to find such cases, 

$ rosrun roslaunch roslaunch-check launch/denso_robot_gazebo.launch 
checking launch/denso_robot_gazebo.launch
Missing package dependencies: denso_robot_gazebo/package.xml: robot_state_publisher, denso_robot_descriptions, gazebo_ros, controller_manager
...writing test results to /home/k-okada/.ros/test_results/denso_robot_gazebo/rosunit-roslaunch_check_launch_denso_robot_gazebo_launch.xml
FAILURE:
[launch/denso_robot_gazebo.launch]:
    Missing package dependencies: denso_robot_gazebo/package.xml: robot_state_publisher, denso_robot_descriptions, gazebo_ros, controller_manager
wrote test file to [/home/k-okada/.ros/test_results/denso_robot_gazebo/rosunit-roslaunch_check_launch_denso_robot_gazebo_launch.xml]

and you can also check during test phase like

https://github.com/Kawasaki-Robotics/khi_robot/blob/899de1d9e843958ea70bd4c62af737698137f814/khi_duaro_description/CMakeLists.txt#L8-L11

ToshitakaSuzuki commented 2 years ago

I get it. Thank you~