Package format 2 (recommended)

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 <package format="2">.

If you are making small changes to a format 1 package, please use Package format 1 (legacy) instead. If you are ready to upgrade a format 1 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 when CATKIN_ENABLE_TESTING is set, which is true by default. Passing -DCATKIN_ENABLE_TESTING=0 to CMake enables configuring and building packages without any testing overhead.

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

Migrating from package format 1

When a format 1 package is revised, it probably makes sense to upgrade its package.xml to format 2.

• Migrating from format 1 to format 2