rosdep complaint?

[slowrunner]

Following the [u]updated instructions[/u], I am getting this error:

pi@ROSPI:~/gopigo3_ws $ rosdep install --from-paths src --ignore-src -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
gopigo3_node: No definition of [tf] for OS [debian]

Any ideas?

[christianrauch]

The same issue has already been reported as port of #6 .

Are you using a binary installation? Try to install ros-kinetic-tf (sudo apt install ros-kinetic-tf).

[slowrunner]

Are you using a binary installation? Try to install ros-kinetic-tf (sudo apt install ros-kinetic-tf).

Thanks - no I built from source, and my apt-get can't locate a package ros-kinetic-tf.
My catkin_make in gopigo3_ws didn't complain about nav_msgs, but does about geometry_msgs.

The only place I find geometry_msgs is /home/pi/ros_catkin_ws/src/genmsg/test/files/geometry_msgs

btw this is my ROS Kinetic package list, if that helps:
$ rospack list-names
catkin
cmake_modules
cpp_common
gencpp
geneus
genlisp
genmsg
gennodejs
genpy
gopigo3_node
message_filters
message_generation
message_runtime
mk
ros_environment
rosbag
rosbag_storage
rosbash
rosboost_cfg
rosbuild
rosclean
rosconsole
roscpp
roscpp_serialization
roscpp_traits
roscreate
rosgraph
rosgraph_msgs
roslang
roslaunch
roslib
roslisp
roslz4
rosmake
rosmaster
rosmsg
rosnode
rosout
rospack
rosparam
rospy
rosservice
rostest
rostime
rostopic
rosunit
roswtf
std_msgs
std_srvs
topic_tools
xmlrpcpp

[christianrauch]

I think these issues are related.
First, make sure that you sourced the core ROS workspace (the one containing the base packages) before compiling the gopigo workspace. This should be source /home/pi/ros_catkin_ws/install/setup.bash or source /home/pi/ros_catkin_ws/devel/setup.bash in your case, or wherever the compiled workspace is saved.

The ros-kinetic-* packages are only available on a binary installation.

[slowrunner]

make sure that you sourced the core ROS workspace

The [u]Installing ROS Kinetic On Raspberry Pi wiki[/u] instructed to source /opt/ros/kinetic/setup.bash, so the last two lines of my ~/.bashrc are:

source /opt/ros/kinetic/setup.bash
source ~/gopigo3_ws/devel/setup.bash

so my env looks like:

env | grep 'ros\|ROS\|PATH'
LD_LIBRARY_PATH=/home/pi/gopigo3_ws/devel/lib:/opt/ros/kinetic/lib
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
CMAKE_PREFIX_PATH=/home/pi/gopigo3_ws/devel:/opt/ros/kinetic
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages
ROS_PACKAGE_PATH=/home/pi/gopigo3_ws/src:/opt/ros/kinetic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/pi/gopigo3_ws/devel/share/common-lisp
PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games
PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
ROS_DISTRO=kinetic

I see a bunch of "setup.bash" files under
/home/pi/ros_catkin_ws/devel_isolated/
/home/pi/ros_catkin_ws/build_isolated/

and home/pi/ros_catkin_ws/ looks like:
pi@ROSPI:~/gopigo3_ws $ ls /home/pi/ros_catkin_ws/
build_isolated catkin_make.out devel_isolated kinetic-ros_comm-wet.rosinstall src

---

btw, should the gopigo3_node dependency tf be tf2?
"tf provided a system for representing, tracking and transforming coordinate frames until ROS Hydro, when it was deprecated in favor of tf2." http://wiki.ros.org/tf

[christianrauch]

If packages are not part of the core ROS workpace, you will have to install them manually. From your output of rospack list-names I gather that geometry_msgs and tf are not installed. Since you moved the ROS installation to /opt/ros/kinetic, you should only need to source this, and not require the source folder at /home/pi/ros_catkin_ws anymore.

It actually appears as if many core packages are missing from your workspace. The repo https://github.com/ros/common_msgs contains core message types, but I don't see that they are installed.
Can you verify that your ROS installation is actually working? E.g. can you run the examples from the tutorials at http://wiki.ros.org/ROS/Tutorials and http://wiki.ros.org/turtlesim/Tutorials?

If you are just starting with ROS, I would recommend to use a binary installation. E.g. I used to use Ubuntu on a Raspberry Pi 2 and then followed the instructions at http://wiki.ros.org/melodic/Installation/Ubuntu. This simplifies the installation of packages enormously.

I thought about replacing tf by tf2 but this will not help with your missing packages and tf is still available in the ROS repositories.

[slowrunner]

Decision: This is not an issue with GoPiGo3 Node. The GoPiGo3 Node requires ROS packages not installed by the current ROSberryPi install wiki "recommended variant ros-comm":

• geometry_msgs
• rospy
• sensor_msgs
• nav_msgs
• tf (listed in packages.xml and still available, but is deprecated by tf2)

So closing this issue, and continuing to investigate how to build a ROS environment with the needed packages.

[christianrauch]

That you installed only the small subset of packages in ros_comm explains why some core packages were missing :-) In such a case, you will need to add all required packages afterward.

All variants are listed at https://www.ros.org/reps/rep-0131.html#variants. The robot variant includes amongst others common_msgs and geometry.

[slowrunner]

I found success by adding the needed packages to the ros_comm installation done previously:

====== adding packages/stacks needed for GoPiGo3_Node

cd ~/ros_catkin_ws rosinstall_generator ros_comm geometry_msgs rospy sensor_msgs nav_msgs tf --rosdistro kinetic --deps --wet-only --tar >kinetic-custom_ros.rosinstall

$ wstool merge -t src kinetic-custom_ros.rosinstall
Performing actions:

Add new elements:
actionlib, angles, common_msgs/actionlib_msgs, common_msgs/geometry_msgs, common_msgs/nav_msgs, common_msgs/sensor_msgs, geometry/tf, geometry2/tf2, geometry2/tf2_msgs, geometry2/tf2_py, geometry2/tf2_ros

Config changed, maybe you need run wstool update to update SCM entries.
Overwriting /home/pi/ros_catkin_ws/src/.rosinstall

update complete.

$ wstool update -t src

$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2

It built, and it launches, and IT WORKS!!