[ros-users] Compiling and installing ROS in Debian Squeeze

Thu Oct 4 10:27:43 UTC 2012

A Dijous 04 Octubre 2012, Tully Foote va escriure:
> On Thu, Oct 4, 2012 at 1:50 AM, Leopold Palomo-Avellaneda
> <leo at alaxarxa.net>wrote:
> 
> > Hi Tully,
> >
> > A Dijous 04 Octubre 2012, Tully Foote va escriure:
> > > Thanks for contributing these resources It will help people looking to
> > use
> > > debian greatly.
> >
> > I need to make some documentation. I hope soon.
> >
> > > If you'd like we could also work with you to try to merge debian support
> > > upstream.  Our whole infrastructure could be extended to support debian
> > > codenames as well as ubuntu ones. We don't have time to actively support
> > > Debian releases but patches in that direction would be accepted.  
Related
> > > to this we could consider providing your backports in the main ROS repos
> > as
> > > we do for Ubuntu.
> >
> > Perfect, my propose is to create some kind of debian-robotics derivative 
in
> > the way to install easily ros/orocos/ whatever robotics software in a
> > debian
> > distro. I manage a group of boxes in a robotics' lab and it's a pain to
> > maintain ROS in this boxes. It's easy (I doubt it also ...) if you have a
> > ubuntu box and a monouser (or few users) but a multiuser box is ... uff.
> >
> > >
> > > Jack's spot on with respect to PCL.  The problem is that PCL standalone
> > > defines symbols which collide with the ROS messages.  This is an 
artifact
> > > of the early development process, and can't be fixed without an api
> > > breaking change on either side.
> >
> > thanks for the explanation. Now it's more clear.
> >
> > > To build the same version as in ROS see
> > > this repository [1] It is a git-buildpackage repository with all the 
tags
> > > generated for Ubuntu, and can easily be extended for other debian
> > codenames
> > > into sourcedebs.
> >
> > Ok I don't understand this. Are you saying that the repo [1] has a version
> > of
> > the perception package that could compile with a stand-alone version of
> > pcl?
> >
> > Otherwise it's not easy (at least for me) to create a debian (pure Debian,
> > not
> > Ubuntu) package from that sources. It requires the catkin package and by
> > now,
> > waiting the fhs transition it's not easy to prepare.
> >
> 
> Sorry I pointed to the wrong repo.  This is the repo with the version of
> pcl integrated with ROS which we're using for groovy and fuerte now.  It's
> installs in close to fhs style.  We've generated debian control files for
> ubuntu, but you can use git-buildpackage's command generate-debian for
> generating any of the pure debian codenames as well.
> 
> https://github.com/ros-gbp/pcl-release
> 

Ok, now it's clear. But, if I'm trying to build a fuerte system, using the 
sources, now to create this version of pcl I need:

[...]
ros-groovy-catkin,
ros-groovy-ros-comm,
ros-groovy-flann,
ros-groovy-std-msgs,
ros-groovy-common-msgs,
ros-groovy-roscpp-core
[...]

understanding that ros-groovy-flann is libflann-dev. So do I have to create 
this packages? 

Will be collision betweend std-msgs and the std-msgs installed in 
/opt/ros/fuerte? 

> > <rant mode>
> > It's really so complicate to have a full ROS system in a no ubuntu box!!!
> > </rant mode>
> 
> 
> It's just as complicated on Ubuntu, we've just jumped through the hoops
> already ;-)

So, _we_ are doing something wrong ... :-)

Regards,

Leo

> Tully
> 
> 
> >
> 
> Regards,
> >
> > Leo
> >
> > >
> > >
> > >
> > >
> > > On Wed, Oct 3, 2012 at 9:48 AM, Jack O'Quin <jack.oquin at gmail.com>
> > wrote:
> > >
> > > > On Wed, Oct 3, 2012 at 9:49 AM, Leopold Palomo-Avellaneda
> > > > <leo at alaxarxa.net> wrote:
> > > > > A Dimecres 03 Octubre 2012, Rich Mattes va escriure:
> > > > >> On Tue, Oct 2, 2012 at 6:18 PM, Leopold Palomo Avellaneda
> > > > >> <leo at alaxarxa.net>wrote:
> > > > >>
> > > > >> > Hi,
> > > > >> >
> > > > >> >
> > > > >> > First of all I have noticed that there are several packages that
> > has
> > a
> > > > >> > dependency a pcl package, when there's no pcl package, but
> > there's a
> > > > > system
> > > > >> > dependency pcl. So, I have to change several manifest files from
> > > > >> >
> > > > >> >  <depend package="pcl" />
> > > > >> >
> > > > >> > to
> > > > >> >   <rosdep name="pcl" />
> > > > >> >
> > > > >> > Also, I have not be able to found which version of pcl is needed
> > for
> > > > > fuerte
> > > > >> > (1.5, 1.6) With 1.6 it doesn't compile.
> > > > >> >
> > > > >> >
> > > > >>
> > > > >> We had a lot of fun trying to figure this out in Fedora[1] as well.
> >  As
> > > > it
> > > > >> turns out, you can't use the upstream PCL release for Fuerte, you
> > need
> > a
> > > > >> custom branch of PCL hosted on github[2] which contains extra
> > message
> > > > >> definitions and stack metadata.  I raised the issue upstream[3] and
> > it
> > > > >> looks like we have to wait for PCL 2.0 for ROS to build against PCL
> > as
> > a
> > > > >> stand-alone library instead of requiring that PCL be modified.
> >  We're
> > > > going
> > > > >> to try to patch Fedora's system PCL to make it a hybrid ROS stack
> > and
> > > > >> stand-alone library so that ROS is usable until this situation is
> > > > resolved.
> > > > >> It seems this issue is pretty[4] common[5].
> > > > >
> > > > > Well, we want something similar. A PCL version stand-alone that
> > could be
> > > > used
> > > > > by ros.
> > > > >
> > > > > I have seen the github code, and it doesn't seems that use the ROS
> > stuff,
> > > > > although is required by cmake. From a ROS full installation (188)
> > > > packages I
> > > > > have compiled 106, considering that pcl is not built or installed.
> > > > >
> > > > > I hope to have something functional some day ...
> > > >
> > > > So do I.
> > > >
> > > > Many people have stumbled over this problem in Fuerte. And, I fear it
> > > > may not get better in Groovy. I really hope I end up being wrong about
> > > > that.
> > > >
> > > > I think PCL must have fallen in the cracks during the Fuerte release.
> > > > Many of us expected catkin to solve the problem of building
> > > > stand-alone PCL with the ROS message tools. That only half worked.
> > > > Thanks to catkin, PCL can now optionally be built to use standard ROS
> > > > messages, such as sensor_msgs/PointCloud2. But unfortunately, PCL also
> > > > defines several ROS messages of its own: ModelCoefficients,
> > > > PointIndices, PolygonMesh, and Vertices, which cannot reasonably be
> > > > handled by the stand-alone PCL build. The changes to the PCL 1.5
> > > > sources were too large, messy and complex to merge into their
> > > > stand-alone tree.
> > > >
> > > > To ship a working Ubuntu version for Fuerte, the wg-debs/pcl github
> > > > project was created. Unfortunately, the main purpose of wg-debs is to
> > > > add the Debian rules and source control for several Ubuntu packages
> > > > hosted on packages.ros.org because they are necessary rosdep
> > > > dependencies. Getting that to work for PCL involved significant
> > > > additional source changes, mostly defining those additional messages
> > > > and using them in PCL.
> > > >
> > > > That mostly solved the problem for Ubuntu systems. But, it leaves no
> > > > good solution for other Linux distros, Mac OSX, ARM boards, other
> > > > embedded systems, or anyone wanting to build everything from source.
> > > >
> > > > When PCL 2.0 comes out, it will only use PCL-defined types, no ROS
> > > > messages. So, these problems should eventually go away. Until then,
> > > > the ROS community needs to provide a PCL 1.x version that can be built
> > > > and installed from source on any of our target platforms. Then, the
> > > > Ubuntu Debian packages should be built from that. Unfortunately, that
> > > > will demand considerable maintenance effort including documentation,
> > > > with active Q&A support both here and on the PCL forums.
> > > >
> > > > Perhaps there is some clever way to repackage those additional ROS
> > > > messages into a catkin ROS package that a stand-alone PCL could
> > > > optionally build with, as it already does with std_msgs and
> > > > sensor_msgs when USE_ROS is specified for building. But, that seems to
> > > > be beyond my current catkin and PCL skills.
> > > > --
> > > >  joq
> > > > _______________________________________________
> > > > ros-users mailing list
> > > > ros-users at code.ros.org
> > > > https://code.ros.org/mailman/listinfo/ros-users
> > > >
> > >
> > >
> > >
> > > --
> > > Tully Foote
> > > tfoote at willowgarage.com
> > > (650) 475-2827
> > >
> >
> >
> > --
> > --
> > Linux User 152692
> > Catalonia
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> 
> 
> 
> -- 
> Tully Foote
> tfoote at willowgarage.com
> (650) 475-2827
> 

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