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OpenEmbedded Layers for ROS 1 and ROS 2
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rosrun: requires full catkin package #349

Closed KristofRobot closed 9 years ago

KristofRobot commented 9 years ago

rosrun seems not to be working without the full catkin package (i.e. only with the standard catkin-runtime package, as explained in [1]):

I first detected this when trying to rosrun xv_11_laser_driver (after setting ROS_PACKAGE_PATH as explained in #348):

$ rosrun --debug xv_11_laser_driver neato_laser_publisher 
[rosrun] Looking in catkin libexec dir: 
[rosrun] Looking in rospack dir: /opt/ros/indigo/share/xv_11_laser_driver
[rosrun] Searching for neato_laser_publisher with permissions /111
[rosrun] Couldn't find executable named neato_laser_publisher below /opt/ros/indigo/share/xv_11_laser_driver

It should find neato_laser_publisher in the lib dir though:

$locate  neato_laser_publisher
/opt/ros/indigo/lib/xv_11_laser_driver/neato_laser_publisher

It does not find it, however, as the catkin libexec dir variable is empty. Looking into rosrun, this variable is filled as follows:

if [[ -n $CMAKE_PREFIX_PATH ]]; then
  catkin_package_libexec_dir=`catkin_find --without-underlays --libexec --share $1
  debug "Looking in catkin libexec dir: $catkin_package_libexec_dir"
fi

The reason it does not find it, is because catkin_find does not exist:

$catkin_find --without-underlays --libexec --share xv_11_laser_driver
-sh: catkin_find: command not found

After installing catkin, the catkin_find command is present, and everything works fine:

$ catkin_find --without-underlays --libexec --share xv_11_laser_driver
/opt/ros/indigo/lib/xv_11_laser_driver
/opt/ros/indigo/share/xv_11_laser_driver

IMO, rosrun is a basic command, that should be working in a standard install of meta-ros. Not sure if there is a way to add this to catkin_runtime, without pulling the gcc dependencies and such; but if not, I would suggest we re-include the full catkin as default.

Alternatively, we should add a clear warning in the documentation/README on this.

[1] https://github.com/bmwcarit/meta-ros/commit/185882428c346c0f262b14b62b05cc9f690e2a36

bulwahn commented 9 years ago

As far as I understand the issue, a proper solution would be to add catkin_find to the catkin_runtime recipe/package if catkin_find does not require any further runtime dependencies with large footprint, such as gcc, cmake and make.

KristofRobot commented 9 years ago

Yups, that seems to work, opened a pull request to do exactly that.