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Using ros pluggin & catkin build

asked 2018-03-08 11:30:58 -0500

Guillaume Charland Arcand gravatar image

updated 2018-03-08 11:35:32 -0500

sloretz gravatar image


I am trying to build and link my ros pluggin to Gazebo. I am building all my ros packages (and therefore the pluggin) using catkin build.

I am using this example from the tutorial as a base :

The main difference I see is that I am not using catkin_make but caktin build

In the tutorial, it is explained that you need to add the following lines to your package.xml :

<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />

Which if I understand correctly, will tell Gazebo where to search for my compiled plugin library (

What I am seeing, is that when building with catkin_make, my is located @ catkin_ws/devel/lib/ So I suppose that the path ${prefix}/lib is correct (that is ${prefix} somehow resolves to catkin_ws/devel/)

But if I build using catkin build, my is located @ catkin_ws/build/package_name/

How should I adjust my package.xml such that Gazebo can find my plugin ?

Also, is there other variable, other then ${prefix}that I can use in package.xml, and to what does ${prefix} resolve to ?

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answered 2018-03-08 13:21:10 -0500

Guillaume Charland Arcand gravatar image


I found my problem. This is linked to this thread :

Along with this :

The problem is not based on the change from catkin_make to catkin build, but the order in which the element of my CMakeLists were writing. By following the CMakeLists rules from the second link, my was generated in devel/lib and everything is working fine.

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Asked: 2018-03-08 11:30:25 -0500

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Last updated: Mar 08 '18