Package format 1 (legacy)

When writing a ROS package several tasks often need to be done. These pages give examples of how to handle most of the common ones.

Note

These instructions are for the original <package format="1">.

If you are making small changes to a format 1 package, use these instructions. If you are ready to upgrade your package to format 2, see: Migrating from format 1 to format 2.

Overview

• Catkin configuration overview

Resolving dependencies

Packages almost always use features provided by other packages. Describe all your direct dependencies. Their transitive dependencies on other packages are handled automatically by catkin.

• C++ catkin library dependencies
• C++ system library dependencies
• C++ message or service dependencies
• Python module dependencies

Building and installing targets

Build targets are generated binaries, shared libraries, message headers, and other objects. Various targets require special handling.

• Building and installing C++ executables
• Building and installing C++ libraries and headers
• Building messages, services or actions
• Dynamic reconfiguration
• Installing Python scripts and modules
• Installing CMake files
• Installing other files

Configuring and running unit tests

All configuration steps related to testing should be only done conditionally if CATKIN_ENABLE_TESTING is set (which is true by default). Passing -DCATKIN_ENABLE_TESTING=0 to CMake enables to configure and build packages without any testing overhead.

If the CMake configuration of packages fails because they use test functions without checking this flag before the option -DCATKIN_SKIP_TESTING=1 can be passed to CMake to disable testing but providing mock functions in order to not break the build.

• Downloading test data
• Configuring gtest for C++
• Configuring Python nose tests
• Configuring rostest
• Running unit tests