![]() Next tutorial: Setting Up Your PYTHONPATH. Now your scripts and modules are available via rosrun, and will also be available If other people install your package.Īlso refer to ROS/Tutorials/CreatingMsgAndSrv for making message and service. To setup the environment to include the new devel space: $. Now we can build our package: $ cd ~/catkin_ws Mypackage/CMakeLists.txt cmake_minimum_required(VERSION 2.4.6) Here is an example for a Package that has Messages, Services, and tests: You also need to provide the CMakeLists file, which is also fairly simple. This loads up our cmake definitions, which ensure our builds are cross-platform. Mypackage/Makefile include $(shell rospack find mk)/cmake.mk If you want to write the necessary build files by hand, here's what you need: This will create my_pkg and add in a dependency on rospy so that you can use in it your code. In fact, we have an automated tool that will create a all the necessary build files for you: These build files are not difficult to write. The test functionality is especially important as we have the ability to run tests on your package plus every package that depends on it ( rospack pkg test), which is very important for finding regressions prior to checkin. ![]() autogenerating message and service code.These build files ( CMakeLists.txt, Makefile) are fairly simple, but they provide important functionality such as: option (BUILDSHAREDLIBS 'Build using shared libraries' ON) Next, we need to specify output directories for our static and shared libraries. We use the option () command as it allows users to optionally select if the value should be ON or OFF. You can skip this tutorial unless you just need information about the makefile and CMakelists.txt. To accomplish this we need to add BUILDSHAREDLIBS to the top-level CMakeLists.txt. This tutorial repeats information from earlier tutorials with a focus on the Makefiles. Next Tutorial: Setting Up Your PYTHONPATH Makefile?" Believe it or not, you do need Makefile (and CMakeLists), even if you just hack Python all day. Writing a ROS Python Makefile Description: I know what you're saying: "Python. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. Please ask about problems and questions regarding this tutorial on.
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