Consuming a ROS Package
The ROS community has many thousands of packages which cover different aspects of building a Robot. Many packages have been ported by the community or build on Windows without modification.
Is the package already available?
To consume a ROS package, we recommend the following workflow:
Determine if there is a binary release of the ROS package.
- Using ROS Wiki ↗, locate the binary release name and attempt to install using
- If this succeeds, then you are all set!
choco install ros-melodic-<package_name>
If there isn't a binary release, determine if there is a source only distribution. Here is an example workflow how to create a workspace to test the availability:
:: activate the ROS environment c:\opt\ros\melodic\x64\setup.bat :: create a empty workspace mkdir c:\catkin_ws\src cd c:\catkin_ws :: generate the released package sources list and its ROS dependencies :: you can customize the command line to checkout the sources from different channels :: see the tips section for more details rosinstall_generator <package_name> --deps --exclude RPP --tar --flat > pkg.rosinstall :: you can manually edit the pkg.rosinstall for more customizations. :: see the tips section for more details :: checkout the sources for real wstool init src wstool merge -r -y -t src pkg.rosinstall wstool update -t src :: attempt to acquire the external dependencies rosdep update rosdep install --from-paths src --ignore-src -r -y :: now catkin make to build the workspace catkin_make
If everything goes well, now you can activate the development space - by calling
devel/setup.bat - and use the package.
:: activate the development space devel\setup.bat :: test the new package is discoverable rospack find <package_name>
Tips for Source Installation
If something has not successfully been built, you can try to the following steps:
If a Windows port has not yet been released, you can repeat Soruce Installation but ask
rosinstall_generatorto use the development branch this time.
:: use the development branch rosinstall_generator <package> --upstream-development --deps --exclude RPP > pkg.rosinstall
If using the upstream development branch doesn't help, you can edit
pkg.rosinstallto switch the
version:of the broken package to other branch, like
init_windows, if it exists.
In addition to consuming the upstream repositories, you can check to see if Microsoft's ms-iot Github organization has a fork of that project and is working on a port. If it does, you can edit
uri:to the different fork.
If the package has not been enabled on Windows, please create an issue on the ROS package's project page asking for Windows to be supported.
If you are able, please consider enabling the ROS package on Windows and submitting a pull request to the original repository. Porting a ROS Package is a good resource to learn the how-to.