Correct rosdistro keys #32
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So my understanding is that all the depend names in package.xml should reflect the ones that we want to depend on, which should be the ones we install in the workspace (+/- the ones that are already in ROS core packages). |
| <depend>dbow2</depend> | ||
| <depend>gtsam</depend> | ||
| <depend>kimera_rpgo</depend> |
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Not ok, as I think it is KimeraRPGO, we should make a PR to the RPGO repo updating the name there.
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| <depend>gtsam</depend> | ||
| <depend>kimera_rpgo</depend> | ||
| <depend>libgflags-dev</depend> | ||
| <depend>libgoogle-glog-dev</depend> |
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I think the two above are irrelevant actually because we use cmake files to find glog/gflags as I had tons of issues with these two in multiple systems...
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use cmake files to find glog/gflags
Not sure being explicit about this external dependency the manifest would change what the CMake does to find the glog/gflags installed in the cmake path. Are you saying that the system install of glog/gflags in the latest ubuntu LTS is still an issue?
| <depend>kimera_rpgo</depend> | ||
| <depend>libgflags-dev</depend> | ||
| <depend>libgoogle-glog-dev</depend> | ||
| <depend>libopencv-dev</depend> |
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Same, should be opencv or rather opencv3_catkin if we use ETH's catkinized opencv3
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If we use libopencv-dev, what are we assuming? That ppl installed opencv how?
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This is the correct/official rosdep key name for the opencv3 library:
By declaring the same key name as the dependency, users with other packages depending on opencv3 don't have to monkey patch there manifest to use the same key to avoid rosdep from installing libopencv-dev from apt repo if the kimera workspace it builds from already includes a source build of opencv.
Note how this is used in the Dockerfile that builds the underlay for the ros wrapper:
https://github.com/MIT-SPARK/Kimera-VIO-ROS/pull/32/files#diff-3254677a7917c6c01f55212f86c57fbfR71-R95
ruffsl
changed the title
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@ruffsl if you want we can merge this one after updating to master and if Jenkins is ok with it 👍 |
@ToniRV I've rebased this PR onto master. I think the 18.04 test might be flaky, as it passed before rebasing, and the error dosn't seem to pertain to ros-dep keys. The builds seems green though! |
This corrects the rosdistro key names so rosdep can properly resolve and install missing dependencies, as well fix some issues in finding exported headers from upstream projects.
See official list of rosdistro keys here:
https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml
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