[ros-users] [Discourse.ros.org] [Next Generation ROS] Questions on ament, ament.py, ament_cmake and dependency resolvers

Dirk Thomas ros.discourse at gmail.com
Wed Feb 28 18:29:46 UTC 2018

[quote="jcadam, post:1, topic:4065"]
Is this designed on purpose?

Yes, using the `COMPONENTS` keyword when finding catkin to enumerate additional packages has several drawbacks and was therefore not provided in `ament_cmake`.

To maintain a similar level of convenience as in `catkin` you can call [ament_target_dependencies(...)](https://github.com/ament/ament_cmake/blob/af0789c46d03aabf6ee2cae360bf0487dd8a84d4/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake#L31) after finding all packages separately. The function will do the "heavy lifting" for you and "use" all common variables from the package names you pass for the passed target name.

[quote="jcadam, post:1, topic:4065"]
An ament package could be compiled by ament.py with build_pkg parameter. It seems that the python script actually doesnt check whether its dependencies are built. It this what could be expected?

It does exactly what you described - it builds only the single one package. It does *not* build any other packages. You should use `build` for that. `build_pkg` should commonIy not be used by users.

[quote="jcadam, post:3, topic:4065"]
Is there a tool in ament like rosdep ?

ROS 2 uses `rosdep` the same as ROS 1 does.

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