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Why does the wiki claim that ROS packages using gazebo must be catkin packages?

asked 2013-09-20 18:43:16 -0600

leblanc_kevin gravatar image

The wiki claims that ROS packages depending on gazebo have to be catkin (wet) packages, and not rosbuild (dry) packages.

http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration#Catkin

But if you're using the "standalone" gazebo APIs you can just access whatever you need using cmake either way. If you're using APIs from any of the ROS catkin (wet) packages in the gazebo_ros_packages metapackage you can still depend on those packages from a rosbuild (dry) package (dry can depend on wet, it's wet that can't depend on dry).

Is this an error, or am I missing something?

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answered 2013-09-26 04:49:12 -0600

@leblanc_kevin, I believe you are right. The statement that

you will first need to "catkinize" your packages to begin migration

is probably not true. A more correct way to phrase it would probably be that while both rosbuild and catkin work at the moment, rosbuild is slowly being deprecated in favor of catkin, and the rest of the tutorial assumes that you're using catkin.

Disclaimer: I haven't actually tried using Gazebo 1.9 on Hydro myself yet, neither with rosbuild nor with catkin, but I assume that it doesn't behave differently than other catkin packages, which work fine with rosbuild.

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Thanks, that's what I wanted to confirm. I know rosbuild is deprecated, but the status of that deprecation is not visible in much of the documentation, and there are many inconsistent and erroneous pieces of documentation scattered around the ros.org site. I think it's important to try to keep documentation accurate, which is why I pointed out what I thought was an error. The wiki should recommend catkinization, and it should explain that this is because of the deprecation of rosbuild.

leblanc_kevin gravatar imageleblanc_kevin ( 2013-10-09 18:02:04 -0600 )edit
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answered 2013-09-23 09:52:06 -0600

nkoenig gravatar image

I believe that rosbuild will eventually go away. So it's better start using catkin from the get-go.

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answered 2013-09-24 22:19:55 -0600

joq gravatar image

It's better to use catkin for new projects. Hydro still supports rosbuild from source. There are limitations: rosbuild packages can no longer be released via the build farm.

But, existing rosbuild projects can still use Gazebo as a rosdep.

As Nate said, eventually that will no longer work.

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Asked: 2013-09-20 18:43:16 -0600

Seen: 469 times

Last updated: Sep 26 '13