|
| 1 | +REP: 150 |
| 2 | +Title: ROS Melodic and Newer Metapackages |
| 3 | +Author: Tully Foote < [email protected]>, Chris Lalancette < [email protected]> |
| 4 | +Status: Active |
| 5 | +Type: Informational |
| 6 | +Content-Type: text/x-rst |
| 7 | +Created: 03-Nov-2017 |
| 8 | +Post-History: |
| 9 | + |
| 10 | + |
| 11 | +Abstract |
| 12 | +======== |
| 13 | + |
| 14 | +This REP describes the metapackages for the ROS Melodic release and for releases that follow until otherwise replaced by a similar update REP. |
| 15 | +This REP updates REP 131 [3]_ and REP 142 [5]_ for changes in packages. |
| 16 | + |
| 17 | + |
| 18 | +Motivation |
| 19 | +========== |
| 20 | + |
| 21 | +For a discussion on the general motivation and role of variants, |
| 22 | +please see REP 108 [1]_. |
| 23 | + |
| 24 | +As of ROS Hydro we have completed the transition to using |
| 25 | +metapackages instead of variants. |
| 26 | +For more information on metapackages see REP 127 [2]_. |
| 27 | + |
| 28 | +This document covers the common metapackages used for recommended |
| 29 | +installations. |
| 30 | +It is expressed in the ros/metapackages repository on github.com |
| 31 | +[4]_. |
| 32 | + |
| 33 | +This REP proposes the same entrypoints as REP 108 and merely updates |
| 34 | +the variant definitions to reflect the organizational changes in ROS |
| 35 | +stacks. |
| 36 | +In particular, in ROS Melodic the `robot` metapackage is contracted to remove |
| 37 | +`robot_model` and instead explicitly list the necessary packages. |
| 38 | + |
| 39 | +The definitions in this REP are more focused and concise for clearer |
| 40 | +purpose, and do not list all transitive dependencies explicitly. |
| 41 | + |
| 42 | + |
| 43 | +Specification |
| 44 | +============= |
| 45 | + |
| 46 | +End-user entry points |
| 47 | +--------------------- |
| 48 | + |
| 49 | +We define the same three main entry points for ROS users as REP 108 |
| 50 | +[1]_. |
| 51 | + |
| 52 | + * desktop_full (recommended) |
| 53 | + * desktop |
| 54 | + * ros_base |
| 55 | + |
| 56 | +Metapackages |
| 57 | +------------ |
| 58 | + |
| 59 | +ROS Core |
| 60 | +'''''''' |
| 61 | + |
| 62 | +The `ros_core` metapackage composes the core communication protocols. |
| 63 | +It may not contain any GUI dependencies. |
| 64 | + |
| 65 | +:: |
| 66 | + |
| 67 | + - ros_core: |
| 68 | + packages: [catkin, cmake_modules, common_msgs, gencpp, geneus, genlisp, |
| 69 | + genmsg, gennodejs, genpy, message_generation, message_runtime, |
| 70 | + ros, ros_comm, rosbag_migration_rule, rosconsole_bridge, |
| 71 | + roscpp_core, rosgraph_msgs, roslisp, rospack, std_msgs, std_srvs] |
| 72 | + |
| 73 | +ROS Base |
| 74 | +'''''''' |
| 75 | + |
| 76 | +The `ros_base` metapackage composes the `ros_core` metapackage with |
| 77 | +commonly used libraries. |
| 78 | +It may not contain any GUI dependencies. |
| 79 | + |
| 80 | +:: |
| 81 | + |
| 82 | + - ros_base: |
| 83 | + extends: [ros_core] |
| 84 | + packages: [actionlib, bond_core, class_loader, |
| 85 | + dynamic_reconfigure, nodelet_core, |
| 86 | + pluginlib] |
| 87 | + |
| 88 | +Robot metapackage |
| 89 | +''''''''''''''''' |
| 90 | + |
| 91 | +The `robot` metapackage is defined to be core, stable, ROS libraries |
| 92 | +for any robot hardware. |
| 93 | +It is the "general robotics" libraries of ROS. |
| 94 | +It may not contain any GUI dependencies. |
| 95 | + |
| 96 | +:: |
| 97 | + |
| 98 | + - robot: |
| 99 | + extends: [ros_base] |
| 100 | + packages: [control_msgs, diagnostics, executive_smach, filters, geometry, |
| 101 | + joint_state_publisher, kdl_parser, kdl_parser_py, |
| 102 | + robot_state_publisher, urdf, urdf_parser_plugin, xacro] |
| 103 | + |
| 104 | +Capability variants |
| 105 | +''''''''''''''''''' |
| 106 | + |
| 107 | +The capability variants organize commonly used libraries that are |
| 108 | +specific to a class of use case. |
| 109 | +We also define a `simulators` variant that provides an organizational |
| 110 | +role for higher-level variants. |
| 111 | +We discourage GUI dependencies in these stacks, if possible. |
| 112 | + |
| 113 | +:: |
| 114 | + |
| 115 | + - perception: |
| 116 | + extends: [ros_base] |
| 117 | + packages: [image_common, image_pipeline, |
| 118 | + image_transport_plugins, laser_pipeline, |
| 119 | + perception_pcl, vision_opencv] |
| 120 | + |
| 121 | + - simulators: |
| 122 | + extends: [robot] |
| 123 | + packages: [gazebo_ros_pkgs, rqt_common_plugins, rqt_robot_plugins, |
| 124 | + stage_ros] |
| 125 | + |
| 126 | + - viz: |
| 127 | + extends: [ros_base] |
| 128 | + packages: [rqt_common_plugins, rqt_robot_plugins, rviz] |
| 129 | + |
| 130 | +Desktop variants |
| 131 | +'''''''''''''''' |
| 132 | + |
| 133 | +The `desktop` variants are main entry points for users. |
| 134 | +The `desktop_full` is a "batteries included" experience for users and |
| 135 | +attempts to collect stable, well-documented libraries. |
| 136 | +These libraries may be specific to certain classes of robots, such as |
| 137 | +mobile robots, though they are not specific to a particular robot. |
| 138 | +The `desktop` variant is more minimal and only provides the stacks in |
| 139 | +the `robot` variant, plus visualization and debugging tools. |
| 140 | +Both of these variants contain tutorials for the stacks they provide. |
| 141 | + |
| 142 | +:: |
| 143 | + |
| 144 | + - desktop: |
| 145 | + extends: [robot, viz] |
| 146 | + packages: [angles, common_tutorials, geometry_tutorials, ros_tutorials, |
| 147 | + roslint, urdf_tutorial, visualization_tutorials] |
| 148 | + - desktop_full: |
| 149 | + extends: [desktop, perception, simulators] |
| 150 | + packages: [urdf_sim_tutorial] |
| 151 | + |
| 152 | +Institution-specific and robot-specific |
| 153 | +''''''''''''''''''''''''''''''''''''''' |
| 154 | + |
| 155 | +Please see REP 108 [1]_ for discussion of institution-specific |
| 156 | +metapackages. |
| 157 | + |
| 158 | +When creating robot or institution specific metapackages consider |
| 159 | +using the \*_robot and \*_desktop and \*_base form where * is the |
| 160 | +institution or robot name. |
| 161 | + |
| 162 | +An institution is not required to provide a metapackage, they are |
| 163 | +mainly provided for convenience and identity. |
| 164 | + |
| 165 | + |
| 166 | +Backwards Compatibility |
| 167 | +======================= |
| 168 | + |
| 169 | +The metapackages in this REP provide the same semantic top level |
| 170 | +entry points while simplifying the definitions. |
| 171 | + |
| 172 | + |
| 173 | +References |
| 174 | +========== |
| 175 | + |
| 176 | +.. [1] REP 108: Diamondback Variants |
| 177 | + (http://www.ros.org/reps/rep-0108.html) |
| 178 | +
|
| 179 | +.. [2] REP 127: Specification of package manifest format |
| 180 | + (http://ros.org/reps/rep-0127.html) |
| 181 | +
|
| 182 | +.. [3] REP 131: Groovy Variants |
| 183 | + (http://www.ros.org/reps/rep-0131.html) |
| 184 | +
|
| 185 | +.. [4] ROS Metapackages Repository |
| 186 | + (https://github.com/ros/metapackages) |
| 187 | +
|
| 188 | +.. [5] REP 142: Indigo Variants |
| 189 | + (http://www.ros.org/reps/rep-0142.html) |
| 190 | +
|
| 191 | +
|
| 192 | +Copyright |
| 193 | +========= |
| 194 | + |
| 195 | +This document has been placed in the public domain. |
| 196 | + |
| 197 | + |
| 198 | +.. |
| 199 | + Local Variables: |
| 200 | + mode: indented-text |
| 201 | + indent-tabs-mode: nil |
| 202 | + sentence-end-double-space: t |
| 203 | + fill-column: 70 |
| 204 | + coding: utf-8 |
| 205 | + End: |
0 commit comments