Dependencies Index - Revision history

S253809: /* Building and Recommendations */

2026-05-28T08:43:06Z

Building and Recommendations

← Older revision		Revision as of 10:43, 28 May 2026
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	* Build the workspace copy of deps first so downstream packages use the in-tree install. Example:		* Build the workspace copy of deps first so downstream packages use the in-tree install. Example:


	colcon build --symlink-install --packages-up-to fields2cover		colcon build --symlink-install --packages-up-to fields2cover
	colcon build --symlink-install		colcon build --symlink-install


	* If you previously installed a system package (for example ``ros-jazzy-fields2cover``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros-jazzy-fields2cover``) with care; sudo is required.		* If you previously installed a system package (for example ``ros-jazzy-fields2cover``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros-jazzy-fields2cover``) with care; sudo is required.

	* If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).		* If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).

S253809: /* Dependencies Index */

2026-05-28T08:42:36Z

Dependencies Index

S253809: /* Fields2Cover */

2026-05-28T08:41:52Z

Fields2Cover

← Older revision		Revision as of 10:41, 28 May 2026
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	Where used: ``opennav_coverage`` and Fejemis coverage planners.		Where used: ``opennav_coverage`` and Fejemis coverage planners.

	Notes: Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.		'''Notes:''' Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.

	=== ldlidar_stl_ros2 ===		=== ldlidar_stl_ros2 ===

S253809 at 08:41, 28 May 2026

2026-05-28T08:41:35Z

← Older revision		Revision as of 10:41, 28 May 2026
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	=== Fields2Cover ===		=== Fields2Cover ===

	Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.		'''Purpose:''' Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.

	Where used: ``opennav_coverage`` and Fejemis coverage planners.		Where used: ``opennav_coverage`` and Fejemis coverage planners.

S253809: /* Building and Recommendations */

2026-05-28T08:40:20Z

Building and Recommendations

← Older revision		Revision as of 10:40, 28 May 2026
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	== Building and Recommendations ==		== Building and Recommendations ==

	- Build the workspace copy of deps first so downstream packages use the in-tree install. Example:		* Build the workspace copy of deps first so downstream packages use the in-tree install. Example:

	~~```bash~~
	~~colcon build --symlink-install --packages-up-to fields2cover~~
	~~colcon build --symlink-install~~
	~~```~~

	- ~~If you previously installed a system package (for example ``ros~~-~~jazzy~~-fields2cover~~``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros~~-~~jazzy~~-~~fields2cover``) with care; sudo is required.~~		colcon build --symlink-install --packages-up-to fields2cover
			colcon build --symlink-install

	~~- If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).~~

	If you want~~, I can expand individual sections~~ with ~~example launch commands~~, config ~~locations, and common troubleshooting notes~~.		* If you previously installed a system package (for example ``ros-jazzy-fields2cover``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros-jazzy-fields2cover``) with care; sudo is required.

			* If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).

S253809: /* Dependencies Index */

2026-05-28T08:39:19Z

Dependencies Index

← Older revision		Revision as of 10:39, 28 May 2026
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	This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible.		This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible.

	-- Fields2Cover		=== Fields2Cover ===

	Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.		Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.
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	Notes: Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.		Notes: Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.

	-- ldlidar_stl_ros2		=== ldlidar_stl_ros2 ===

	Purpose: Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.		Purpose: Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.
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	Notes: Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).		Notes: Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).

	-- opennav_coverage		=== opennav_coverage ===

	Purpose: Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.		Purpose: Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.
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	Notes: Depends on Fields2Cover; keep both workspace copies consistent.		Notes: Depends on Fields2Cover; keep both workspace copies consistent.

	-- raubase_core		=== raubase_core ===

	Purpose: Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).		Purpose: Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).
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	Notes: Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.		Notes: Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.

	-- ros_arcana (arcana_python, arcana_tools)		=== ros_arcana (arcana_python, arcana_tools) ===

	Purpose: Small utility libraries and launch helpers used across the workspace (xacro helpers, launch conveniences, python utilities).		Purpose: Small utility libraries and launch helpers used across the workspace (xacro helpers, launch conveniences, python utilities).

S253809: Created page with "Back to Fejemis ROS2 Software == Dependencies Index == This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible. -- Fields2Cover Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing. Where used: ``opennav_coverage`` and Fejemis covera..."

2026-05-28T08:38:40Z

Created page with "Back to Fejemis ROS2 Software == Dependencies Index == This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible. -- Fields2Cover Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing. Where used: ``opennav_coverage`` and Fejemis covera..."

New page

Back to [[Fejemis ROS2 Software]]

== Dependencies Index ==

This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible.

-- Fields2Cover

Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.

Where used: ``opennav_coverage`` and Fejemis coverage planners.

Notes: Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.

-- ldlidar_stl_ros2

Purpose: Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.

Where used: ``fejemis_maploc`` LiDAR bringup and Nav2 costmaps.

Notes: Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).

-- opennav_coverage

Purpose: Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.

Where used: Optional coverage navigation component integrated by ``fejemis_maploc`` when coverage support is enabled.

Notes: Depends on Fields2Cover; keep both workspace copies consistent.

-- raubase_core

Purpose: Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).

Where used: Bridge and simulator control paths; adapters that keep simulation and real hardware command interfaces aligned.

Notes: Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.

-- ros_arcana (arcana_python, arcana_tools)

Purpose: Small utility libraries and launch helpers used across the workspace (xacro helpers, launch conveniences, python utilities).

Where used: Launch utilities, xacro handling, and small tooling used by multiple packages (e.g., ``fejemis_sim`` uses arcana launch helpers).

Notes: These packages are lightweight but important for consistent launch behaviour across machines and ROS distros.

== Building and Recommendations ==

- Build the workspace copy of deps first so downstream packages use the in-tree install. Example:

```bash
colcon build --symlink-install --packages-up-to fields2cover
colcon build --symlink-install
```

- If you previously installed a system package (for example ``ros-jazzy-fields2cover``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros-jazzy-fields2cover``) with care; sudo is required.

- If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).

If you want, I can expand individual sections with example launch commands, config locations, and common troubleshooting notes.

← Older revision		Revision as of 10:42, 28 May 2026
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	=== ldlidar_stl_ros2 ===		=== ldlidar_stl_ros2 ===

	Purpose: Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.		'''Purpose:''' Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.

	Where used: ``fejemis_maploc`` LiDAR bringup and Nav2 costmaps.		Where used: ``fejemis_maploc`` LiDAR bringup and Nav2 costmaps.

	Notes: Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).		'''Notes:''' Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).

	=== opennav_coverage ===		=== opennav_coverage ===

	Purpose: Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.		'''Purpose:''' Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.

	Where used: Optional coverage navigation component integrated by ``fejemis_maploc`` when coverage support is enabled.		Where used: Optional coverage navigation component integrated by ``fejemis_maploc`` when coverage support is enabled.

	Notes: Depends on Fields2Cover; keep both workspace copies consistent.		'''Notes:''' Depends on Fields2Cover; keep both workspace copies consistent.

	=== raubase_core ===		=== raubase_core ===

	Purpose: Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).		'''Purpose:''' Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).

	Where used: Bridge and simulator control paths; adapters that keep simulation and real hardware command interfaces aligned.		Where used: Bridge and simulator control paths; adapters that keep simulation and real hardware command interfaces aligned.

	Notes: Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.		'''Notes:''' Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.

	=== ros_arcana (arcana_python, arcana_tools) ===		=== ros_arcana (arcana_python, arcana_tools) ===