Catkin_tools compatibility

[AlexisTM]

catkin_tools works slightly differently from catkin_make but is also one of the most used tools as it proposes Toolchains, profiles and workspace extension (the main features we use).

How are we supposed to configure HAROS for catkin_tools? How ROS_WORKSPACE (unset) supposed to be? How can we handle the face we have the source and build folder apart from each other (depending on catkin_tools config).

[git-afsantos]

Indeed, HAROS has not received built-in support for catkin_tools yet, but I think you can work around it. I assume you want to try model extraction, and thus need the workspace and build location.

In the HAROS home directory (defaults to ~/.haros), you will find a configs.yaml file. In this file, you can un-comment and edit a few lines to point to the right places.

workspace: '/path/to/ws'
cpp:
    compile_db: '/path/to/ws/build'

I am not sure if the CMake parser will give you trouble still. Let me know.

[AlexisTM]

I think this would be worth taking a look at.

https://github.com/rosin-project/haros_catkin/

[AlexisTM]

When doing so, it finds the packages in /tmp/src/install_x64 instead of /home/alexis/workspace/src (The install folder that has been sourced)

%YAML 1.1
---
workspace: "/home/alexis/workspace/src"
cpp:
    parser_lib: '/usr/lib/llvm-11/lib'
    std_includes: '/usr/lib/llvm-11/lib/clang/11.0.0/include'
    compile_db: '/tmp/src/build_x64'
py:
    compile_db: '/tmp/src/build_x64'
packages:
  - base

[git-afsantos]

Ok, then I will have to look further into it. I probably have to change something in the function that searches for packages.

By the way, the packages section does not go into the configs.yaml, it goes into a separate YAML file (unless you are passing configs.yaml as a -p argument).

Meanwhile, if you want to try something else, try running in the source directory or passing the directory as -c, e.g.:

haros -c /home/alexis/workspace/src analyse ...

I think this will prioritise this directory in the search paths.