Catkin Tools
Catkin build system
This Python package provides command line tools for working with the catkin meta-buildsystem and catkin workspaces. These tools are separate from the Catkin CMake macros used in Catkin source packages. It has to be installed seperately.
Installation Catkin Tools
# Add ROS Repositories
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
# Install via apt-get
sudo apt-get update
sudo apt-get install python-catkin-tools
# Install via pip
sudo pip install -U catkin_tools
Cheat Sheet
This is a non-exhaustive list of some common and useful invocations of the catkin command. All of the commands which do not explicitly specify a workspace path (with --workspace) are assumed to be run from within a directory contained by the target workspace. For thorough documentation, please see the chapters on each verb.
Initialize Workspaces
Initialize a workspace with a default layout (src/build/devel) in the current directory:
catkin init
catkin init --workspace .
catkin config --init
mkdir src && catkin build
... with a default layout in a different directory:
catkin init --workspace /tmp/path/to/my_catkin_ws
... which explicitly extends another workspace:
catkin config --init --extend /opt/ros/indigo
Initialize a workspace with a source space called other_src:
catkin config --init --source-space other_src
... or a workspace with build, devel, and install space
ending with the suffix _alternate:
catkin config --init --space-suffix _alternate
Configuring Workspaces
View the current configuration:
catkin config
Setting and unsetting CMake options:
catkin config --cmake-args -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB
catkin config --no-cmake-args
Toggle installing to the specified install space:
catkin config --install
Building Packages
Build all the packages:
catkin build
... one at a time, with additional debug output:
catkin build -p 1
... and force CMake to re-configure for each one:
catkin build --force-cmake
Build a specific package and its dependencies:
`catkin build <package_name>
... or ignore its dependencies:
catkin build <package_name> --no-deps
Build the package containing the current working directory:
catkin build --this
... but don't rebuild its dependencies:
catkin build --this --no-deps
Build packages with additional CMake args:
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Debug
... and save them to be used for the next build:
catkin build --save-config --cmake-args -DCMAKE_BUILD_TYPE=Debug
Build all packages in a given directory:
catkin build $(catkin list -u /path/to/folder)
... or in the current folder:
catkin build $(catkin list -u .)
Cleaning Build Products
Blow away the build, devel, and install spaces (if they exist):
catkin clean
... or just the build space:
catkin clean --build
... or just clean a single package:
catkin clean PKGNAME
... or just delete the build directories for packages which have been disabled or removed:
catkin clean --orphans