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doc:catkin_migration [2014/07/10 13:01]
admin [Adapting OWL and Prolog files to the new libraries]
doc:catkin_migration [2014/12/07 07:53] (current)
admin
Line 1: Line 1:
 ====== Migrating to the catkinized version of KnowRob ====== ====== Migrating to the catkinized version of 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.+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.**
  
 ===== Catkinization ===== ===== Catkinization =====
  
-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.+
  
 ===== Converting Java packages ===== ===== Converting Java packages =====
  
-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. ​
  
-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 ==== 
 + 
 +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:
  
     json_prolog_msgs ​       <-- catkin package     json_prolog_msgs ​       <-- catkin package
Line 34: Line 35:
       |- package.xml       |- package.xml
       \- ...       \- ...
 +
 +
 +==== 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'​)
 +      ​
 +      /* Dependency on a rosjava project in another catkin package */
 +      compile '​org.ros.rosjava_core:​rosjava:​[0.1,​)'​
 +  ​
 +      /* 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
 +
 +
 +==== Run dependencies when calling Java from Prolog ====
 +
 +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.
 +
 +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)
 +
 +
  
 ===== 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>"​ />
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        <​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>​
 +
  
 ===== Changelog ===== ===== Changelog =====
  
 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+