Okay, cool. Thanks.<div><br></div><div>I'm actually working in Python, though, and up until now, I've been avoiding getting involved with the ROS build system-- up until now, it's been more straightforward to just avoid all the rosbash magic and develop my toy nodes as standalone scripts. Sorry to have such basic questions, but I wonder if you could:</div>
<div><br></div><div>Firstly, when I'm setting out to build a new node, it seems it needs to have a package. Does it need to have a stack too? Or can I just roscreate-pkg, and then put my python scripts in the src directory?</div>
<div><br></div><div>Secondly, I tried to create my new package outside of $ROS_ROOT--- in a directory that's a peer to ros and ros-tutorials. However, when I do this, none of the rosbash tools can find it. Do I need to put my stuff inside of $ROS_ROOT, or do I need to add to PATH and PYTHONPATH. If so, should I be doing this by editing the ros setup.sh, or by creating my own?</div>
<div><br></div><div>Again, sorry to be so clueless. These are problems that can be solved in various ways, but if there's an official ROS Way to do these things, I'd be glad to observe it. </div><div><br></div><div>
Thanks,</div><div><br></div><div>Mike<br><div><br></div><div><br></div><div><br><br><div class="gmail_quote">On 27 May 2010 20:53, Ken Tossell <span dir="ltr"><<a href="mailto:ktossell@umd.edu">ktossell@umd.edu</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><div class="gmail_quote"><div class="im">On Thu, May 27, 2010 at 8:25 PM, Mike Purvis <span dir="ltr"><<a href="mailto:mpurvis@clearpathrobotics.com" target="_blank">mpurvis@clearpathrobotics.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div>As a new user of ROS, I'm finding it a bit overwhelming trying to know how to use the gps_common message that's been proposed above. I've cloned umd-ros-pkg, and I've found the gps_common package in the gps_umd stack... but there's also the two relevant messages separately appearing in the gpsd stack, independent of the gps_common packaging.</div>
</blockquote><div><br></div></div><div>Those messages in the gpsd stack are an older version of the messages that appear in gps_umd/gps_common. I'm going to switch gpsd_client over to the new message format soon (gps_common/[...]), and after that's standardized, gpsd_client will implement the standard message.</div>
<div class="im">
<div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div>Should I just be copying the two files from msg to my own project/msg directory, or should I be trying to place the gps_common package in some centrally-located area, and creating a dependency on it? (How?)</div>
</blockquote><div><br></div></div><div>It's best to create a dependency on the package. In your manifest.xml:</div><div><br></div><div><package> [...] <depend package="gps_common"/> [...] </package></div>
<div><br></div><div>I'm not sure what's the best approach for adding repositories right now, but if you add an entry '/path/to/umd-ros-pkg' to your ROS_PACKAGE_PATH variable, ROS will be able to find these packages (once you open a new terminal or otherwise reload ROS). If you installed from source, this variable is probably set in ~/ros/setup.sh.</div>
<div><br></div><div>Once "roscd gps_common" works and you've built the gps_common package, you can use GPSFix and GPSStatus in your C++ code:</div><div><br></div><div>#include <gps_common/GPSFix.h></div>
<div>#include <gps_common/GPSStatus.h></div><div><br></div><div>using namespace gps_common;</div><div><br></div><div>and these messages will be available as GPSFix and GPSStatus.</div><div><br></div><font color="#888888"><div>
- Ken</div>
</font></div>
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