Add support for orocos/ros (ROS 1) - tested melodic #1
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* Not fully featured, missing packages: - rtt_tf - rtt_kdl_conversions - rtt_tf2_msgs - rtt_rosdeployment
This patch adds support for tf/tf2 excluding tf_confersions and rtt_tf
Added the package tf_conversions
This patch adds a hook to make a custom build command for DockerHub
| FROM deps AS build | ||
| ARG OROCOS_TOOLCHAIN_BRANCH | ||
| RUN git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git -b ${OROCOS_TOOLCHAIN_BRANCH} /build/orocos_ws/src/orocos_toolchain \ | ||
| && git clone --recursive https://github.com/orocos/orocos_kinematics_dynamics.git -b v1.4.0 /build/orocos_ws/src/orocos_kinematics_dynamics |
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Nope. KDL is already preinstalled in /opt/ros/${ROS_DISTRO} and many packages depend on it. Installing a newer version from source on top will cause problems, although all 1.4 versions should be ABI-compatible.
For released packages, we should just install the debians. Building orocos_toolchain from source is a temporary solution only.
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If I am calling . /opt/ros/${ROS_DISTRO}/setup.sh and I still get geometry/eigen_conversions complaining for not finding orocos_kdl, does not that mean that KDL is not preinstalled in /opt/ros/${ROS_DISTRO} ?
CMake Error at geometry/eigen_conversions/CMakeLists.txt:4 (find_package):
By not providing "Findorocos_kdl.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"orocos_kdl", but CMake did not find one.
Could not find a package configuration file provided by "orocos_kdl" with
any of the following names:
orocos_kdlConfig.cmake
orocos_kdl-config.cmake
Add the installation prefix of "orocos_kdl" to CMAKE_PREFIX_PATH or set
"orocos_kdl_DIR" to a directory containing one of the above files. If
"orocos_kdl" provides a separate development package or SDK, be sure it has
been installed.
So I opted then to add: ros-${ROS_DISTRO}-orocos-kdl to the list of apt-get install.
| && git clone --recursive https://github.com/ros/geometry2.git -b ${ROS_DISTRO}-devel /build/orocos_underlay_ws/src/geometry2 \ | ||
| && git clone --recursive https://github.com/ros/geometry.git -b ${ROS_DISTRO}-devel /build/orocos_underlay_ws/src/geometry \ | ||
| && git clone --recursive https://github.com/ros/angles.git -b master /build/orocos_underlay_ws/src/angles |
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Same here: Please do not install development-versions of some packages to /opt/ros/${ROS_DISTRO} where Debians are available.
Dependencies must be be installed with apt-get and/or rosdep or there will be conflicts sooner or later.
| -DCMAKE_FIND_ROOT_PATH=/stage \ | ||
| -DCATKIN_DEVEL_PREFIX=/build/orocos_underlay_ws/devel \ | ||
| -DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} \ | ||
| -DCATKIN_BLACKLIST_PACKAGES="rtt_tf;rtt_rosdeployment" \ |
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@meyerj we have at the moment an alternative for this, right? Because this image exist in: https://hub.docker.com/r/orocos/ros/tags (dated 24th July 2020) I cannot remember if it was produced with this patch or something else. |
Description
This PR adds support for Orocos/ROS 1.
A docker image can be generated that contains ROS 1 + Orocos pre-installed.
Tested
This PR has being tested for:
melodictoolchain-2.9ToDo
The image still lacks support for the following packages:
rtt_tfrtt_rosdeployment