Cannot call the ros launch file which is available in the snap

snap
1

I made the snap to my store under edge channel.
And installed a snap on my pi
And the snap interface looks ok.
But the launch-project failed to execute the roslaunch command with my launch file.

My folder structure looks like this.

image
image529×841 36.9 KB

And I am getting the following error

image
image1310×225 26.1 KB

When testing the ros catkin packages I did the source the /devel/setup.bash. And I was able to use the command

roslaunch robot_setup_tf robot_setup_tf.launch

Do I need to do the same/similar thing in Snap as well?

I saw few answers it was saying my folder structure might be one of the reason.
Is there anything wrong in my folder structure?
Am I missing any other configurations to access my launch file from the snap command?

Regards,
Lingaa

Kind Regards,
Lingaa

2

Please paste your snapcraft.yaml file’s apps and parts section, especially the part definition that ships your launcher file.

3

Hello Lin-Buo-Ren,

snapcraft.yaml file

name: rosrobot-proto1 # you probably want to 'snapcraft register <name>'
version: '0.1' # just for humans, typically '1.2+git' or '1.3.2'
summary: ROS robot prototype1 # 79 char long summary
description: |
  This is ros robot prototype1. It has ros kinetic as a tar ball.

grade: stable # must be 'stable' to release into candidate/stable channels
confinement: strict # use 'strict' once you have the right plugs and slots

plugs:
  # Mount the content shared from ros-base into $SNAP/ros-base
  ros-base-armhf:
    content: ros-base-armhf-v1
    interface: content
    target: /ros-base-armhf

apps:

  launch-project:
    command: run-system
    plugs: [network, network-bind, ros-base-armhf]

parts:

  # The `source` here is the tarred staging area of the ros-base snap.
  ros-base-armhf:
    plugin: dump
    source: ros-base-armhf.tar.bz2
    source-type: tar

    # This is only used for building-- filter it out of the final snap.
    prime: [-*]

  rosrobot-proto1:
    source: https://github.com/Lingaprahasam/ROSRobotP1.io.git
    source-branch: master
    source-subdir: rosrobot-proto1
    plugin: catkin
    rosdistro: kinetic
    include-roscore: false
    underlay:
      # Build-time location of the underlay
      # On Pi Platform
      build-path: $SNAPCRAFT_STAGE/opt/ros/kinetic
      
      # On Ubuntu machine
      #build-path: /opt/ros/kinetic

      # Run-time location of the underlay
      run-path: $SNAP/ros-base-armhf/opt/ros/kinetic
    catkin-packages:
      - robot_setup_tf      
    after: [ros-base-armhf]
  
  run-system:
    source: https://github.com/Lingaprahasam/ROSRobotP1.io.git
    source-branch: master
    source-subdir: rosrobot-proto1
    plugin: dump
    stage: [bin/run-system]
    prime: [bin/run-system]

  mountpoint:
    plugin: nil
    install: mkdir $SNAPCRAFT_PART_INSTALL/ros-base-armhf

run-system file

#!/bin/bash



case $SNAP_ARCH in

amd64)

	TRIPLET="x86_64-linux-gnu"

	;;

armhf)

	TRIPLET="arm-linux-gnueabihf"

	;;

arm64)

	TRIPLET="aarch64-linux-gnu"

	;;

*)

	TRIPLET="$SNAP_ARCH-linux-gnu"

	;;

esac



export ROS_BASE=$SNAP/ros-base-armhf



# Add ros-base to the PYTHONPATH

export PYTHONPATH=$PYTHONPATH:$ROS_BASE/usr/lib/python2.7/dist-packages



# Add ros-base to LD_LIBRARY_PATH

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/lib

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/lib/$TRIPLET

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/usr/lib

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/usr/lib/$TRIPLET

roslaunch robot_setup_tf robot_setup_tf.launch