Overview

Debs

All the rosjava debs are provided by a single rosjava metapackage:

> sudo apt-get install ros-indigo-rosjava

Your Own Sources

You can now proceed to add your own source packages on top by creating an overlay on top of /opt/ros/indigo (you will need to modify the URL for wstool appropriately first):

> mkdir -p ~/myjava/src
> cd ~/myjava/src
> wstool init -j4 https://raw.githubusercontent.com/<USERNAME>/rosinstalls/master/myjava.rosinstall
> source /opt/ros/indigo/setup.bash
> cd ~/myjava
> rosdep update
> rosdep install --from-paths src -i -y
> catkin_make

Alternatively, you can create a new, empty overlay on top of /opt/ros/indigo:

> mkdir -p ~/myjava/src
> cd ~/myjava/src
> source /opt/ros/indigo/setup.bash
> catkin_init_workspace
> cd ~/myjava
> catkin_make

Disabling GenJava in Non-Java Workspaces

To save on compile time, you may wish to disable rosjava message artifact generation in your other workspaces. To do this append the following line to the setup.bash of those workspaces:

echo "export ROS_LANG_DISABLE=genjava" >> ~/nojava/devel/setup.bash

See ROS_LANG_DISABLE for more details.

Where to Now?

You're now ready to start developing a shiny new catkin-rosjava package! Refer to the next tutorial on how to do just that.