rosdep/rosdep.yaml/diamondback

This page is current for ROS 0.11

Contents

Summary
Location
Search Order and precedence
1. Overriding Mapping File
Syntax
Examples
Best Practices

Summary

The rosdep Mapping File contains the information to translate a system dependency name into a package for a package manager or bash script based on the host operating system.

Location

There are three possible locations for rosdep.yaml files.

At the root of a ROS Stack
At the root of a ROS Package which is not in a stack
in ROS_HOME

Search Order and precedence

When trying to resolve a packages dependency the following mapping files will be loaded.

For every package in the dependency list:
- If the package is in a stack, that stack's mapping file and the mapping files in all dependent stacks will be loaded
- Otherwise the mapping file in the package will be loaded.

rosdep will assert that any target specified in these Mapping Files are consistent if overlapping.

Overriding Mapping File

The rosdep Mapping File in ROS_HOME will override any definitions in any other rosdep Mapping File.

Syntax

The rosdep Mapping File is a YAML dictionary.

   1 rosdep_name:
   2   operating_system: package1 package2
   3   operating_system2:
   4     version1: package1
   5     version2: package1-v2
   6   operating_system3: |
   7     echo "this is a bash script to install rosdep_name"

rosdep name

   1 rosdep_name:

In line 1 the string rosdep_name defines the name by which this rosdep will be referred to in the system. There can be any number of rosdep names in each file.

Operating System Tag Unversioned

If all versions of the operating system refer to the package by the same name the version can be left out and the rosdep will be resolved to that package for all versions.

   2   operating_system: package1 package2

Operating System Tag Versioned

If different native package names are required for different versions of the operating system they each must be called out individually. Note: Every version must be called out, a "default" option is not supported.

   3   operating_system2:
   4     version1: package1
   5     version2: package1-v2

Bash script to replace package list

If the system dependency is not available in the package manager for the system designated. A bash script can replace the list of packages. It is triggered if the yaml is parsed as a multi line string. This can be seen here:

   6   operating_system3: |
   7     echo "this is a bash script to install rosdep_name"

Examples

Below are two example rosdep dependencies. wxpython is a simple one while log4cxx is about as complicated as they come. From this snippet you can see how to define connect a single name to multiple OSes as well as individual versions of those OSes.

wxpython:
  ubuntu: python-wxgtk2.8
  arch: wxpython
  centos: wxPython-devel
  debian: python-wxgtk2.8
log4cxx:
  ubuntu:
    9.04: liblog4cxx10-dev
    8.10: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
    8.04: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
  debian:
    squeeze/sid: liblog4cxx10-dev
    lenny: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
  fedora: log4cxx-devel
  arch: |
    if [ ! -f /usr/lib/liblog4cxx.so.10 ] ; then
      mkdir -p ~/ros/ros-deps
      cd ~/ros/ros-deps
      wget --tries=10 http://aur.archlinux.org/packages/log4cxx/log4cxx.tar.gz
      tar xzf log4cxx.tar.gz
      cd log4cxx
      makepkg
      sudo pacman -U log4cxx-*.pkg.tar.gz
    fi
  macports: |
    if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
      mkdir -p ~/ros/ros-deps
      cd ~/ros/ros-deps
      wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
      tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
      cd apache-log4cxx-0.10.0
      ./configure --prefix=/opt/ros
      make
      sudo make install
    fi

Best Practices

It is common to place shared dependencies in lower-level rosdep.yaml files in order to lock-in certain versions across a tree (e.g. boost). This strategy also helps prevent future incompatibilities.