This example uses the catkin build system, as
used by the Robot Operating System (ROS), with an installed instance of the
Drake binary packages.
If you wish use catkin from the Ubuntu package archive, without ROS Noetic,
install the required packages as follows:
sudo ../scripts/setup/linux/ubuntu/focal/install_prereqs
If you wish use catkin from ROS Noetic package archive, install the required
packages and configure your environment as follows:
sudo ../scripts/setup/linux/ubuntu/focal/install_prereqs --ros-noetic
source /opt/ros/noetic/setup.bash
To build the drake_catkin_installed library:
catkin_make --cmake-args "-DCMAKE_PREFIX_PATH=/path/to/drake;$CMAKE_PREFIX_PATH"
To build and run the drake_catkin_installed_test test executable:
catkin_make run_tests --cmake-args "-DCMAKE_PREFIX_PATH=/path/to/drake;$CMAKE_PREFIX_PATH"
If the Drake binary package is installed to /opt/drake, you may omit the
--cmake-args <args> argument.