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doc:catkin_migration [2014/07/10 13:01] – [Adapting OWL and Prolog files to the new libraries] admin | doc:catkin_migration [2014/12/07 07:53] (current) – admin |
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====== Migrating to the catkinized version of KnowRob ====== | ====== Migrating to the catkinized version of KnowRob ====== |
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Starting from ROS hydro/indigo, KnowRob has switched to the catkin buildsystem and the [[http://wiki.ros.org/rosjava|'new' rosjava]]. This page explains the steps that are needed for transforming packages that have been built for the old version to the new KnowRob. | Starting from ROS hydro/indigo, KnowRob has switched to the catkin buildsystem and the [[http://wiki.ros.org/rosjava|'new' rosjava]]. This page explains the steps that are needed for transforming packages that have been built for the old version to the new KnowRob. **This page is aimed at maintainers of KnowRob packages that would like to upgrade them from the rosbuild- to the catkin-based version.** |
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===== Catkinization ===== | ===== Catkinization ===== |
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As a first step, you can use the [[http://wiki.ros.org/catkin/migrating_from_rosbuild#Migration_Help_-_.22Catkinize.22_Scripts|'catkinize' scripts]] that generate something like a valid catkin package from your rosbuild packages. The following manual steps are then | As a first step, you can use the [[http://wiki.ros.org/catkin/migrating_from_rosbuild#Migration_Help_-_.22Catkinize.22_Scripts|'catkinize' scripts]] that generates something close to a valid catkin package from your rosbuild packages. The following manual steps are then |
* Clean up the package.xml, e.g. setting the author and maintainer names and emails. Please check for [[https://github.com/knowrob/knowrob/issues/18|package names that may have changed]]. | * Clean up the package.xml, e.g. setting the author and maintainer names and emails. Please check for package names in KnowRob [[https://github.com/knowrob/knowrob/issues/18|that may have changed]]. |
* Update the CMakeLists.txt. Please check for [[https://github.com/knowrob/knowrob/issues/18|package names that may have changed]]. | * Update the CMakeLists.txt and update all changed package names also there. Remove all rosbuild and old rosjava statements, e.g. those for generating .owl from .owl.in files. |
* Remove all rosbuild and old rosjava statements, e.g. for generating .owl from .owl.in files. | |
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===== Converting Java packages ===== | ===== Converting Java packages ===== |
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Rosjava uses the gradle builsystem that is at the moment (07/2014) only loosely integrated with catkin. Therefore, some things like dependencies need to be specified multiple times. Make sure to read the official documentation in the [[http://wiki.ros.org/rosjava|ROS wiki]] as well as the [[http://rosjava.github.io/rosjava_core/latest/|rosjava_core Sphinx documentation]] carefully to understand the main concepts first. | Rosjava uses the gradle buildsystem that is at the moment (12/2014) only loosely integrated with catkin. Therefore, some information such as dependencies needs to be specified multiple times. Make sure to read the official documentation in the [[http://wiki.ros.org/rosjava|ROS wiki]] as well as the [[http://rosjava.github.io/rosjava_core/latest/|rosjava_core Sphinx documentation]] carefully to understand the main concepts first. |
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There is a one-to-many relation between catkin packages and rosjava sub-projects as described [[http://wiki.ros.org/rosjava/Anatomy%20of%20a%20RosJava%20Package|here]]. This structure has been adopted in KnowRob: In each KnowRob package that contains Java code, there is a folder with the same name containing the respective rosjava subproject. In case the package requires custom messages, there is another [[http://wiki.ros.org/rosjava/Tutorials/hydro/Unofficial%20Messages|subfolder with the name of the message package]]. For example, the json_prolog package (depending on the service defined in json_prolog_msgs) looks like this: | ==== Package structure ==== |
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| There is a one-to-many relation between catkin packages and "rosjava sub-projects" as described [[http://wiki.ros.org/rosjava/Anatomy%20of%20a%20RosJava%20Package|here]]. This structure has been adopted in KnowRob: In each KnowRob package that contains Java code, there is a folder with the same name containing the respective rosjava subproject. In case the package requires custom messages, there is another [[http://wiki.ros.org/rosjava/Tutorials/hydro/Unofficial%20Messages|subfolder with the name of the message package]]. This structure can be created using the tools in [[http://wiki.ros.org/rosjava_build_tools/Tutorials/hydro/Creating%20Rosjava%20Packages|rosjava_build_tools]]. For example, the json_prolog package (depending on the service defined in json_prolog_msgs) looks like this: |
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json_prolog_msgs <-- catkin package | json_prolog_msgs <-- catkin package |
|- package.xml | |- package.xml |
\- ... | \- ... |
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| ==== JAR files and build dependencies ==== |
| Rosjava is now based on Maven that maintains a central repository of jar files for dependencies. The following snippet explains how dependencies are specified in the build.gradle of the respective subproject: |
| <code java> |
| dependencies { |
| /* Dependency on a rosjava project in the same catkin package */ |
| compile project(':json_prolog_msgs') |
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| /* Dependency on a rosjava project in another catkin package */ |
| compile 'org.ros.rosjava_core:rosjava:[0.1,)' |
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| /* Dependency on external jar files (will be downloaded from mavencentral */ |
| compile 'net.sf.json-lib:json-lib:2.4:jdk15' |
| } |
| </code> |
| You can use the service at http://gradleplease.appspot.com/ to generate the lines to be put into the build.gradle |
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| ==== Run dependencies when calling Java from Prolog ==== |
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| In the 'normal' case, the classpath for a rosjava node only contains the dependencies of that program itself. With json_prolog, we however have a special case: It serves as launcher for other packages (e.g. knowrob_vis) that may also contain Java code. The classpath therefore needs to contain the Java dependencies of json_prolog itself AND the dependencies of the packages to be launched. |
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| This is not easy with the existing tools: From json_prolog, we launch //catkin packages//, but the dependencies we need are specified by the //rosjava subprojects// inside those catkin packages. Since catkin is not aware of these subprojects, it cannot be used to collect the classpath elements from all dependencies. The current workaround is the following: During compilation, gradle creates a file 'classpath.txt' with the classpath elements of the respective package. At runtime, rosprolog and json_prolog collect these files and assemble the overall classpath from them. You need to add the following statement to the build.gradle of the respective (exporting) subproject: |
| <code java> |
| task writeClasspath << { |
| buildDir.mkdirs() |
| new File(buildDir, "classpath.txt").text = configurations.runtime.asPath + |
| ":" + buildDir + "/libs/" + |
| project.name + "-" + |
| project.version + ".jar" + "\n" |
| } |
| </code> |
| ... and add the writeClasspath task to the CMakeLists.txt: |
| catkin_rosjava_setup(installApp publishMavenJavaPublicationToMavenRepository writeClasspath) |
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===== Adapting OWL and Prolog files to the new libraries ===== | ===== Adapting OWL and Prolog files to the new libraries ===== |
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* Update launch files to the new json_prolog interface: | * Update launch files to the new json_prolog interface. The //initial_package// parameter specifies the package to be loaded when the node is launched (similar to the package you give as argument to 'rosprolog'). The //initial_goal// is called immediately after KnowRob has been started and can for instance be used to load data from an OWL file. |
| <code xml> |
<launch> | <launch> |
<param name="initial_package" type="string" value="<pkg_name>" /> | <param name="initial_package" type="string" value="<pkg_name>" /> |
<node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" /> | <node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" /> |
</launch> | </launch> |
| </code> |
| * Replace all *.cs.tum.edu-IRIs with knowrob.org. You can use the following command to replace them in most common files in all subfolders of the current directory: |
| <code bash> |
| $ rosrun rosprolog migrate_owl_iri |
| </code> |
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===== Changelog ===== | ===== Changelog ===== |
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The changes have been ticketed at the knowrob repository for Milestone 1. Please have a look here for a list of changes: | The changes have been ticketed at the knowrob repository for Milestone 1. Please have a look here for a list of changes: |
https://github.com/knowrob/knowrob/issues?milestone=1 | https://github.com/knowrob/knowrob/issues?q=is%3Aissue+milestone%3A1.0+ |
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