Catkin Make Install Explained

Catkin is a build system used by ROS (Robot Operating System) for compiling and building ROS packages. Catkin provides a convenient way to build and install packages as well as manage dependencies. In this article, we will explore one of the most widely used commands of Catkin, catkin_make install.

What is Catkin Make Install?

Catkin_make install is a command used to install ROS packages and their dependencies. When you run catkin_make install, Catkin will compile and build the packages specified in your workspace and install them into the install directory (by default it is located in the devel directory).

It's important to note that catkin_make install will not recompile packages that have already been compiled and installed. It will only compile and build packages that have been modified since the last time catkin_make install was run. Furthermore, catkin_make install will also install any dependencies that are required by the packages you are installing.

How to Use Catkin Make Install?

The first step in using catkin_make install is to create a workspace by running the following command:

$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
$ cd src

After creating a workspace, you can create a package by running the following command:

$ catkin_create_pkg <package_name> <dependencies>

In the above command, replace <package_name> with the name of your package and replace <dependencies> with a list of the dependencies that your package requires.

After creating a package, you can modify the source code and build the package by running the following commands:

$ cd ..
$ catkin_make

This will compile and build your package and place it in the devel directory. If you want to install your package and its dependencies, you can run the following command:

$ catkin_make install

This will compile and install your package and its dependencies into the install directory (which is located inside the devel directory).

Conclusion

Catkin_make install is a powerful command that helps manage dependencies and install packages within a Catkin workspace. By using catkin_make install, you can easily compile, build and install your packages and their dependencies. Understanding how to use catkin_make install is essential for any developer working with ROS packages.