Hi everyone
I’m trying to build a snap from a ROS project package. I’m currently working on Ubuntu 18.04 and ROS Melodic, and our plan is to deploy the package on different Linux distros (Red Hat, CentOS, Fedora, Ubuntu, etc).
The project’s structure is:
sick_app
- config
- - param.yaml (configuration file)
- launch
- - node_filter.launch
- - …Other launch files.
- msg
- - Img.msg (custom msg file)
- srv
- - model.srv (custom srv file)
- scripts
- - .py script files
- src
- - filter.h
- - filter.cpp
- - node_filter.cpp
- - … Other cpp/hpp files.
- CMakeLists.txt
- package.xml
Inside the node_filter.cpp file we init the node_filter. The node_filter.launch file is:
<launch>
<arg name="config_dir" value="/path/to/config/param.yaml" />
<rosparam file="$(arg config_dir)" />
<node pkg="sick_app" name="node_filter" type="node_filter" output="screen"> </node>
</launch>
Here is a copy of the package.xml file. I’m using those packages, specially the sick_scan package http://wiki.ros.org/sick_scan
<?xml version="1.0"?> <package format="2"> <name>sick_app</name> <version>0.0.0</version> <description>The sick_app package</description> <license>TODO</license> <buildtool_depend>catkin</buildtool_depend> <build_depend>roscpp</build_depend> <build_depend>rospy</build_depend> <build_depend>std_msgs</build_depend> <build_depend>tf</build_depend> <build_depend>eigen</build_depend> <build_depend>message_generation</build_depend> <build_depend>sick_scan</build_depend> <build_depend>roslaunch</build_depend> <build_export_depend>roscpp</build_export_depend> <build_export_depend>rospy</build_export_depend> <build_export_depend>std_msgs</build_export_depend> <build_export_depend>message_runtime</build_export_depend> <exec_depend>roscpp</exec_depend> <exec_depend>rospy</exec_depend> <exec_depend>std_msgs</exec_depend> <exec_depend>tf</exec_depend> <exec_depend>eigen</exec_depend> <exec_depend>message_runtime</exec_depend> <exec_depend>sick_scan</exec_depend> <!-- The export tag contains other, unspecified, tags --> <export> <!-- Other tools can request additional information be placed here --> </export> </package>
Here is my CMakeLists.txt file
cmake_minimum_required(VERSION 3.0.2)
project(sick_app)add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf
genmsg
sick_scan
roslaunch
)
find_package(Eigen3 REQUIRED)
roslaunch_add_file_check(launch)add_service_files(
FILES
model.srv
)add_message_files(
FILES
Img.msg
)generate_messages(
DEPENDENCIES
std_msgs
sick_app
)catkin_package(
CATKIN_DEPENDS message_runtime std_msgs sick_scan )include_directories(src ${EIGEN3_INCLUDE_DIRS})
include_directories(include ${catkin_INCLUDE_DIRS})add_executable(node_filter
src/node_filter.cpp
src/filter.cpp
)
target_link_libraries(node_filter ${catkin_LIBRARIES} )
add_dependencies(node_filter sick_app_generate_messages_cpp)install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
And finally, here’s the snapcraft.yaml file, where I want to generate the sick-snap-test.filter app to run the roslaunch command. I’m following the ROS tutorials " Packaging your ROS project as a snap"
name: sick-snap-test base: core18 version: '0.1' summary: Sick app snap test description: | Demo snapcraft for ROS sick application. grade: devel confinement: devmode parts: sick-app-workspace: # See 'snapcraft plugins' plugin: catkin source: . catkin-packages: [sick_app] apps: filter: command: roslaunch sick_app node_filter.launch plugs: [network, network-bind]
The error occurs after I generate and install the sick-snap-test_0.1_amd64.snap file. I installed it using the command:
sudo snap install --dangerous --devmode sick-snap-test_0.1_amd64.snap
Then I try to run the sick-snap-test.filter, but I’m getting this:
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://colseinavc-NUC7i3BNH:33357/
SUMMARY
========
PARAMETERS
* /lane_A/height_A: 5.9
* /lane_A/lim_max_A: 4.7
* /lane_A/lim_min_A: 1.3
* /lane_B/height_B: 5.9
* /lane_B/lim_max_B: -1.1
* /lane_B/lim_min_B: -4.5
* /model/CELLS_X: 300
* /model/CELLS_Z: 120
* /model/filename:
* /model/lane_A: 1
* /model/lane_B: 2
* /model/velocity_A: 2.0
* /model/velocity_B: 5.0
* /rosdistro: melodic
* /rosversion: 1.14.10
* /run_id: b31f216e-291e-11e...
* /storage/lim_IMG: 30000
* /storage/lim_PTS: 20000
NODES
/
node_filter (sick_app/node_filter)
auto-starting new master
process[master]: started with pid [7032]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d8ee594c-6b2b-11eb-aa52-f8633ff5a68b
process[rosout-1]: started with pid [7043]
started core service [/rosout]
ERROR: cannot launch node of type [sick_app/node_filter]: Cannot locate node of type [node_filter] in package [sick_app]. Make sure file exists in package path and permission is set to executable (chmod +x)
It seems to be a problem with the launch command, and I can’t find any information at the tutorials or forums with this problem. Please help me, what I’m doing wrong?
Thanks for your time
Best regards.