Simulink ROS node with catkin build

조회 수: 17 (최근 30일)
Markus Krovinovitsch
Markus Krovinovitsch 2020년 7월 15일
편집: Jakobus Louw 2021년 9월 30일
my Simulink ROS node does not work with a catkin workspace created with "catkin build".
But I have to use "catkin build" in this project.
Are there any settings for Simulink to solve this problem?

답변 (2개)

Jakobus Louw
Jakobus Louw 2021년 6월 16일
편집: Jakobus Louw 2021년 9월 30일
My workaround is to first use catkin_make in catkin_ws_simulink, then copy the package produced in the src folder into my ~/catkin_ws (which was made with catkin build). Then run catkin build in ~/catkin_ws.
Step by step:
Follow the instructions on: Generate Code to Manually Deploy a ROS Node from Simulink, but INSTEAD of creating a catkin workspace with the catkin_init_workspace command like they say here (do not do this, this is just to show you what they say on the webstie):
mkdir -p ~/catkin_ws_simulink/src
cd ~/catkin_ws_simulink/src
Rather use catkin_make:
mkdir -p ~/catkin_ws_simulink/src
cd ~/catkin_ws_simulink
Then run the provided bash script to build the node:
cd ~
./ RobotController.tgz ~/catkin_ws_simulink
Copy the desired package folder inside ~/catkin_ws_simulink/src
Paste it in ~/catkin_ws/src (which was build with catkin build)
Now run:
cd ~/catkin_ws
catkin build
  댓글 수: 1
Jakobus Louw
Jakobus Louw 2021년 6월 16일
편집: Jakobus Louw 2021년 6월 16일
You might be able to edit the file they provide to rather use catkin build but I have not been able to make that work.

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Tohru Kikawada
Tohru Kikawada 2020년 7월 21일
I was able to compile a generated ROS node from a Simulink model with "catkin build". Could you explain more about your problem?
$ catkin build
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/user/catkin_ws_build
Build Space: [exists] /home/user/catkin_ws_build/build
Devel Space: [exists] /home/user/catkin_ws_build/devel
Install Space: [unused] /home/user/catkin_ws_build/install
Log Space: [missing] /home/user/catkin_ws_build/logs
Source Space: [exists] /home/user/catkin_ws_build/src
DESTDIR: [unused] None
Devel Space Layout: linked
Install Space Layout: None
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
Whitelisted Packages: None
Blacklisted Packages: None
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
[build] Found '1' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 2.5 seconds ]
Starting >>> robotcontroller
Finished <<< robotcontroller [ 13.0 seconds ]
[build] Summary: All 2 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 15.5 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
  댓글 수: 1
Markus Krovinovitsch
Markus Krovinovitsch 2020년 9월 17일
편집: Markus Krovinovitsch 2020년 9월 17일
i want to generate the ros node (button in simulink: build and run) on a linux target hardware whose workspace was created with catkin build.
But this does not work, because Simulink expects an workspace created with catkin_make.

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