Configure Eclipse IDE in catkin of Ros Groovy
posted @ 2013-05-16 17:03 from [FreedomShe]
由于Groovy之前是rosbuild workspace为主，官方的IDE环境配置以rosbuild为范例来介绍，而目前（2013.5）对预备取代rosbuild的catkin并无提及（refer1 http://www.ros.org/wiki/IDEs）。熟悉Cmake的人已经解决catkin中配置Eclipse for C/C++的问题（refer2 http://answers.ros.org/question/52013/catkin-and-eclipse/），但试验时出现过无法调试的问题。后来加上CMAKE_BUILD_TYPE=Debug就好了，借此总结一下配置过程。
Enviorment: Ubuntu 12.04 + Ros Groovy + catkin workspace.
1. Installing Eclipse
1.1. Download Eclipse IDE for C/C++
Do not use "sudo apt-get install eclipse" to install Eclipse. Instead, go to www.eclipse.org to download the Eclipse IDE for C/C++ (http://www.eclipse.org/downloads/). And then extract to your folder of your choice.
1.2. Install Java 7 if you have not
If you have not installed Java7, you need to setup Java7 before Eclipse could be run successfully. To install Java7 in Ubuntu 12.04, follow as (refer3 http://www.ubuntugeek.com/how-to-install-oracle-java-7-in-ubuntu-12-04.html):
sudo add-apt-repository ppa:webupd8team/java sudo apt-get update sudo apt-get install oracle-java7-installer
If something wrong happens, you may execute these commands before:
sudo apt-get purge openjdk* sudo rm /var/lib/dpkg/info/oracle-java7-installer* sudo apt-get purge oracle-java7-installer* sudo rm /etc/apt/sources.list.d/*java* sudo apt-get update
More details to refer the refer3 page above.
1.3. Create a launcher to run Eclipse from your ROS-sourced shell
Open a terminal, and then go to:
cd /usr/share/applications/
Create a launcher with gedit:
sudo gedit eclipse.desktop
Edit the launcher as follows:
[Desktop Entry] Name=eclipse Type=Application Exec=bash -i -c /opt/eclipse/eclipse Icon=/opt/eclipse/icon.xpm Terminal=false
Note: Do replace “/opt/eclipse/” with your Eclipse path. “bash -i -c /opt/eclipse/eclipse” is to source ROS and start your IDE, then your IDE will run with ROS environment.
Save the file, and grant it with:
sudo chmod 777 eclipse.desktop
Open the dash (Alt+F2), and search “eclipse” from it, you can see your Eclipse now:
Now, I guess you can launch the Eclipse successfully!
2. Creating Eclipse project files
Go to your catkin workspace directory and run catkin_make with options to generate Eclipse project files:
cd ~/catkin_ws
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j8 .catkin_make command will make cmake to generate several Eclipse files in the build/ folder, with these files you can import the catkin project into Eclipse IDE.
3. Importing the project into Eclipse
Start Eclipse from your Eclipse launcher, select File --> Import --> Existing projects into workspace, hit next, then browse for your catkin_ws directory (just select workspace directory). Do NOT select Copy projects into workspace. Then finish.
If you haven't created any package, you may follow Writing a Publisher/Subscriber (C++) to create a package with source files before we test our environment.
Your project construction may be looked like this, the [Source directory] contains your source code, you may edit the code under this directory later.
You can build your project inside Eclipse with Ctrl+B.
4. Running and debugging your executables within Eclipse
Open “Debug Configurations” in Eclipse. Create a new “C/C++ Application”.
Click “Browse” from the “Main” tab to select your executable file. The file should be generated after you build your project (Ctrl+B), in ~/catkin_ws/devel/lib/$yourpakage/ (your path must not as same as mine as showing in the picture.)
You can debug your executable file in Eclipse for Ros catkin workspace now!
Note: 对于refer2（http://answers.ros.org/question/52013/catkin-and-eclipse/），如果用第二种方法，会在src里面生成垃圾文件，破坏了catkin的原始结构；用第一中方法保证了原始结构，但是会遇到调试不成功的问题，我是在生成Eclipse project时候加上CMAKE_BUILD_TYPE=Debug才可以的。英文不好的应该不会研究Ros吧，翻译得太别扭，就用我别扭的E文总结了下……
