Skip to content

Package.xml, Rosdep, Bloom and other tools

Package.xml

It provides metadata about the package, such as its name, version, dependencies, and other important information.

check REP 149 for more details here

Dependencies

  • depend: Specifies dependencies required to build and run the package. A tag is equivalent to specifying , and , all on the same package or key. The tag cannot be used in combination with any of the three equivalent tags for the same package or key name.
  • build_depend: Specifies dependencies required to build the package (e.g., libraries needed at build time).
  • exec_depend: Specifies runtime dependencies (e.g., libraries or tools needed when running the package).
  • test_depend: Specifies dependencies needed for running tests. doc_depend: Specifies dependencies related to documentation.
  • buildtool_depend: Specifies build tools required for the package.

Rosdep

rosdep is a command-line tool for installing system dependencies more

install
1
sudo apt-get install python3-rosdep

commands

resdep command reference

init
1
2
sudo rosdep init
rosdep update
- init: Download/update rosdep sources to /etc/ros/rosdep/sources.list.d/20-default.list - update: Download databases from the above sources and store them in ~/.ros/rosdep

rosdep install

install
1
rosdep install --from-paths src --ignore-src -r -y

rosdep check

check if the dependencies of package(s) have been met.

check
1
rosdep check --from-paths src --ignore-src -r

rosdep keys

list the rosdep keys that the packages depend on.

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
rosdep keys --from-path src
#
rqt_gui_py
ament_cmake_pytest
rqt_gui
rosidl_default_runtime
ament_lint_common
diagnostic_updater
rosidl_default_generators
ament_cmake
python3-pyqt5
ament_lint_auto

rosdep resolve python3-rosdep

resolve <rosdeps> to system dependencies

1
2
3
4
#rosdep resolve <rosdep>
rosdep resolve diagnostic_updater
#apt
ros-humble-diagnostic-updater

Note

for example bluez-hcidump not defined for ubuntu is 

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
rosdep resolve bluez-hcidump
#
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3

ERROR: No definition of [bluez-hcidump] for OS [ubuntu]

No definition of [bluez-hcidump] for OS [ubuntu]
        rosdep key : bluez-hcidump
        OS name    : ubuntu
        OS version : jammy
        Data:
debian:
                - bluez-hcidump
                fedora:
                - bluez-hcidump
                gentoo:
                - net-wireless/bluez-hcidump

rosdep db

generate the dependency database and print it to the console.

db
1
2
3
4
5
6
7
8
rosdep db | grep diagnostic
#
diagnostic_msgs -> ros-humble-diagnostic-msgs
diagnostic_aggregator -> ros-humble-diagnostic-aggregator
diagnostic_common_diagnostics -> ros-humble-diagnostic-common-diagnostics
diagnostic_updater -> ros-humble-diagnostic-updater
diagnostics -> ros-humble-diagnostics
...

rosdep update

update the local rosdep database based on the rosdep sources.

Custom rosdep yaml file

The yaml schema define in REP-111

Note

The rosdistro repository contains the package information for ROS distributions. found in git https://github.com/ros/rosdistro/tree/master

Note

yaml ROSDEP_NAME: OS_NAME1: PACKAGE_MANAGER1: PACKAGE_ARGUMENTS_A OS_NAME2: PACKAGE_MANAGER2: PACKAGE_ARGUMENTS_A

  • package_manager: apt, pip
  • os_name: ubuntu, debian

yaml adafruit-pca9685-pip: ubuntu: pip: packages: [adafruit-pca9685]

Demo: Create custom rosdep yaml file

  • Create yaml file named custom_rosdep.yaml
  • Update rosdep sources
  • Run rosdep update
  • Check with rosdep resolve
custom_rosdeps.yaml
1
2
3
4
5
6
7
8
9
# ROSDEP_NAME:
#   OS_NAME1:
#     PACKAGE_MANAGER1:
#       PACKAGE_ARGUMENTS_A

parameters_utils:
  ubuntu:
    path: /workspace/submodules/parameters_utils
    apt: ros-humble-parameters-utils

1
sudo sh -c 'echo "yaml file:///workspace/custom_rosdep.yaml" > /etc/ros/rosdep/sources.list.d/30-custom.list'

Update

update
1
2
3
4
5
6
7
8
9
rosdep update
#
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Hit file:///workspace/custom_rosdep.yaml

Resolve

resolve
1
2
3
rosdep resolve parameters_utils
#apt
ros-humble-parameters-utils

Bloom

A tool for helping release software into git-buildpackage repositories. more

install
1
2
3
4
5
sudo apt-get install python3-bloom
sudo apt install python3-rosdep \
    fakeroot \
    debhelper \
    dh-python

1
bloom-generate rosdebian

alt text

  • Add custom_rosdep.yaml to workspace
  • Update rosdep sources
  • Run rosdep update
custom_rosdeps.yaml
1
2
3
pkg_server:
  ubuntu:
    apt: ros-humble-pkg-server
30-custom.list
1
yaml file://<workspace full path to yaml file>/custom_rosdep.yaml

1
2
# run again
bloom-generate rosdebian

alt text

build deb
1
fakeroot debian/rules binary

Check deb package

dpkg -I
 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
dpkg -I ros-humble-pkg-client_0.0.0-0jammy_amd64.deb 
#
 new Debian package, version 2.0.
 size 6390 bytes: control archive=1189 bytes.
     233 bytes,     9 lines      control              
    2650 bytes,    27 lines      md5sums              
 Package: ros-humble-pkg-client
 Version: 0.0.0-0jammy
 Architecture: amd64
 Maintainer: user <robo2020@gmail.com>
 Installed-Size: 62
 Depends: ros-humble-pkg-server
 Section: misc
 Priority: optional
 Description: TODO: Package description

Tools

Note

git-buildpackage is a tool that helps you build Debian packages from a git repository. more

References

Todo: learn more

alt text