Summary

The rosdep Mapping File contains the information to translate a system dependency name into a package for a package manager or bash script based on the host operating system.

Syntax

The rosdep Mapping File is a YAML dictionary.

   1 rosdep_name:
   2   operating_system: package1 package2
   3   operating_system2:
   4     version1: package1
   5     version2: package1-v2
   6   operating_system3: |
   7     echo "this is a bash script to install rosdep_name"

rosdep name

   1 rosdep_name:

In line 1 the string rosdep_name defines the name by which this rosdep will be referred to in the system. There can be any number of rosdep names in each file.

Operating System Tag Unversioned

If all versions of the operating system refer to the package by the same name the version can be left out and the rosdep will be resolved to that package for all versions.

   2   operating_system: package1 package2

Operating System Tag Versioned

If different native package names are required for different versions of the operating system they each must be called out individually. Note: Every version must be called out, a "default" option is not supported.

   3   operating_system2:
   4     version1: package1
   5     version2: package1-v2

Bash script to replace package list

If the system dependency is not available in the package manager for the system designated. A bash script can replace the list of packages. wIt is triggered if the yaml is parsed as a multi line string.

NOTE: these scripts cannot be used in the creation of debian packages for stacks. All the dependencies of a Debian package must also be Debian packages. Scripts should only be used where installation will be from source.

An example script entry:

   6   operating_system3: |
   7     echo "this is a bash script to install rosdep_name"

Examples

Below are two example rosdep dependencies. wxpython is a simple one while log4cxx is about as complicated as they come. From this snippet you can see how to define connect a single name to multiple OSes as well as individual versions of those OSes.

wxpython:
  ubuntu: python-wxgtk2.8
  arch: wxpython
  centos: wxPython-devel
  debian: python-wxgtk2.8
log4cxx:
  ubuntu:
    9.04: liblog4cxx10-dev
    8.10: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
    8.04: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
  debian:
    squeeze/sid: liblog4cxx10-dev
    lenny: |
      if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
        mkdir -p ~/ros/ros-deps
        cd ~/ros/ros-deps
        wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
        tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
        cd apache-log4cxx-0.10.0
        ./configure --prefix=/opt/ros
        make
        sudo make install
      fi
  fedora: log4cxx-devel
  arch: |
    if [ ! -f /usr/lib/liblog4cxx.so.10 ] ; then
      mkdir -p ~/ros/ros-deps
      cd ~/ros/ros-deps
      wget --tries=10 http://aur.archlinux.org/packages/log4cxx/log4cxx.tar.gz
      tar xzf log4cxx.tar.gz
      cd log4cxx
      makepkg
      sudo pacman -U log4cxx-*.pkg.tar.gz
    fi
  macports: |
    if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then
      mkdir -p ~/ros/ros-deps
      cd ~/ros/ros-deps
      wget --tries=10 http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz
      tar xzf apache-log4cxx-0.10.0-wg_patched.tar.gz
      cd apache-log4cxx-0.10.0
      ./configure --prefix=/opt/ros
      make
      sudo make install
    fi

Best Practices

It is common to place shared dependencies in lower-level rosdep.yaml files in order to lock-in certain versions across a tree (e.g. boost). This strategy also helps prevent future incompatibilities.