依存関係について #11
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調べてみましたが、 また同様にdescription, navigationにも不自然な依存や、cirkitが開発した別パッケージへの依存は存在しないように思われます。 以下トップディレクトリでのgrepの結果を示します。 (3つ目のgrepはハイライトのためにつけてます)。 $ grep -r pkg | grep cirkit | grep "pkg=\"[^\"]*\""
cirkit_unit03_description/launch/cirkit_unit03.launch: <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
cirkit_unit03_description/launch/cirkit_unit03.launch: <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
cirkit_unit03_description/launch/description.launch: <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
cirkit_unit03_description/launch/cirkit_unit03_description_demo.launch: <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cirkit_unit03_navigation)/config/autorun.rviz" required="true" />
cirkit_unit03_description/launch/cirkit_unit03_xacro.launch: <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
cirkit_unit03_description/launch/cirkit_unit03_xacro.launch: <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <node name="urdf_spawner_human1" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <node name="urdf_spawner_human2" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <!-- <node pkg="topic_tools" type="relay" name="relay_base_cloud" args="/camera/depth/points /hokuyo3d/hokuyo_cloud2"/> -->
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch: <node name="ros_waypoint_generator" pkg="ros_waypoint_generator" type="ros_waypoint_generator" />
cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/autorun.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/autorun.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/autorun.launch: <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
cirkit_unit03_navigation_gazebo/launch/move_base.launch: <node name="map_server" pkg="map_server" type="map_server" args="$(find third_robot_2dnav_gazebo)/map/playpen_map.yaml" />
cirkit_unit03_navigation_gazebo/launch/move_base.launch: <node pkg="topic_tools" type="relay" name="relay_cmd_vel" args="/cmd_vel /steer_drive_controller/cmd_vel"/>
cirkit_unit03_navigation_gazebo/launch/move_base.launch: <node pkg="topic_tools" type="relay" name="relay_odom" args="/steer_drive_controller/odom /odom"/>
cirkit_unit03_navigation_gazebo/launch/move_base.launch: <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
cirkit_unit03_navigation_gazebo/amcl/amcl_diff.launch: <node pkg="topic_tools" type="relay" name="relay_base_scan" args="/third_robot/laser/base_scan /base_scan"/>
cirkit_unit03_navigation_gazebo/amcl/amcl_diff.launch: <node pkg="topic_tools" type="relay" name="relay_base_scan2" args="/third_robot/laser/base_scan2 /base_scan2"/>
cirkit_unit03_navigation_gazebo/amcl/amcl_diff.launch: <node name="rviz" pkg="rviz" type="rviz" args="-d $(find third_robot_2dnav_gazebo)/config/autorun_gazebo.rviz" required="true" />
cirkit_unit03_navigation_gazebo/amcl/amcl_diff.launch: <node pkg="amcl" type="amcl" name="amcl" output="screen">
cirkit_unit03_navigation/launch/autorun.launch: <!-- <node name="cirkit_unit03_monitor_client" pkg="cirkit_unit03_monitor" type="cirkit_unit03_monitor_client"/> -->
cirkit_unit03_navigation/launch/cirkit_unit03_configuration.launch: <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node0" output="screen">
cirkit_unit03_navigation/launch/cirkit_unit03_configuration.launch: <!-- <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node1" output="screen"> -->
cirkit_unit03_navigation/launch/cirkit_unit03_configuration.launch: <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node2" output="screen">
cirkit_unit03_navigation/launch/cirkit_unit03_configuration.launch: <!-- <node pkg="lrf_tcp_ip" type="lrf_tcp_ip_node" name="lrf_tcp_ip" output="screen"> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/tobata20141018.yaml" />; -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201510110332.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201510210032-multi-scan.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201510232204-2.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201510240538.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/tobata2016-gmapping-edited.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/monotsukuri141031.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_gmapping)/map/20151006_ctrl_building.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/garden.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/fullmap.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201511031134.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201511042000.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/201511080238.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/ooshimizu.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/tukutyare2016_outside-8.yaml" />
cirkit_unit03_navigation/launch/move_base.launch: <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation)/map/kenshu_center.yaml" /> -->
cirkit_unit03_navigation/launch/move_base.launch: <node pkg="ros_waypoint_generator" type="ros_waypoint_server" name="ros_waypoint_server" args="--load $(find waypoint_navigator)/waypoints/2016-11-06-11-32-09.csv" output="screen" />
cirkit_unit03_navigation/launch/move_base.launch: <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
cirkit_unit03_navigation/amcl/amcl_diff.launch:<node pkg="amcl" type="amcl" name="amcl" output="screen"> |
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ただ、ふと思い出して
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そして、 取り急ぎ情報共有。 |
This was referenced Nov 17, 2016
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#12 で指摘の依存関係対応リスト
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This was referenced Nov 17, 2016
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#23 より，本リポジトリから他リポジトリへの不必要な依存関係は解消したので閉じます． |
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現在の
cirkit_unit03リポジトリにはnavigationに関するパッケージがありますが，gazebo，つまりcirkit_unit03_simulatorに依存したパッケージcirkit_unit03_navigation_gazeboがあります．いっぽうで，
cirkit_unit03_simulatorにはcirkit_unit03_descriptionに依存したパッケージcirkit_unit03_gazeboを配置予定です．この場合，相互に依存関係が発生してしまうため，取り扱いが複雑になってしまいます．
そこで提案ですが，
cirkit_unit03_navigationパッケージを作成してはいかがでしょうか？Huskyではレポジトリは用意されているものの使用されてないようですが，今回のケースではこれがないとうまくいかないように思います．The text was updated successfully, but these errors were encountered: