catkin.md

catkin cheat sheet

Assuming the corresponding ROS distribution is already sourced (. /opt/ros//setup.bash).

Table of contents

• Create a workspace for catkin
  • catkin_make
  • catkin_tools
• Create a catkin package
• Release new version of catkin package

Create a workspace for catkin

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/

Note: To ignore a package, place a CATKIN_IGNORE file in that package.

catkin_make

# To build any package located in ~/catkin_ws/src
catkin_make
# To build specific packages in ~/catkin_ws/src
catkin_make --pkg <pkg1> <pkg2>
# To install target
catkin_make install

Replace catkin_make by catkin_make_isolated if isolated build process wanted, wherein each package is independently configured, built, and loaded into the environment. It allows catkin_make_isolated --merge for build each catkin package into a common devel space.

catkin_tools

# To build any package located in ~/catkin_ws/src
catkin build
# To build specific packages in ~/catkin_ws/src
catkin build <pkg1> <pkg2>
# To clean all the build products
catkin clean
# To clean specific packages in ~/catkin_ws/build and ~/catkin_ws/devel
catkin clean <pkg1> <pkg2>
# To run all the tests in the packages
catkin run_tests
# To run the current package
catkin run_tests --no-deps --this
# Make a new profile in order to build with a different configuration
catkin config --profile <profile> -x _<profile>
# Build a specific profile
catkin build --profile <profile>
# Clean a specific profile
catkin clean --profile <profile>
# Remove profile (you can also list, set, add and rename a profile)
catkin profile remove <profile>

Installation:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt-get install python-catkin-tools

Create a catkin package

cd ~/catkin_ws/src
catkin_create_pkg <package> <depend1> <depend2>

Release new version of catkin package

# Generate CHANGELOG.rst file in each catkin package
catkin_generate_changelog
# Check each catkin package has its changelog, increment the version in the package.xml and commit/tag the changes
catkin_prepare_release                # PATCH
catkin_prepare_release --bump minor   # ABI
catkin_prepare_release --bump major   # API
# If there it's still 0 tags in the repositoy's website
git push origin --tags
# PR of the release
bloom-release <repo> --rosdistro <distro>