Catkin

Catkin is a collection of CMake macros and associated code used to build packages used in ROS.

It was initially introduced as part of the ROS Fuerte release where it was used for a small set of base packages. For Groovy and Hydro it was significantly modified, and used by many more packages. All released Hydro packages are now built using catkin, although existing rosbuild packages can still be built from source on top of Hydro. Indigo is very similar, except for some deprecated features that were removed.

Note

This document covers both the Groovy and Hydro versions. The Indigo version is documented separately.

Contents

• How to do common tasks
  • Package format 2 (recommended)
  • Package format 1 (legacy)
• User Guide
  • Installation
  • Finding required packages
  • Handling of setup.py
  • CMake coding standards
  • Variables
  • Environment files
  • Glossary
• Advanced Users Guide
  • Migrating from Fuerte catkin
  • How to build the docs
• Developers Guide
  • Design sketch
  • Pre- and Post-installation Disk Layout reference
  • Code Generation
  • Extracted CMake API reference
  • Catkin Maintainers guide
  • Upload catkin documentation
  • Catkin Python API

Code & support

Catkin	http://github.com/ros/catkin
Issues	http://github.com/ros/catkin/issues