I have a ros package which I compile with `catkin_make install` and then I move the install folder to a remote PC. On this PC the binary within the package isn't found with `rosrun`.
The ROS package has the following CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(my_app)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
roslib
std_msgs
)
catkin_package(CATKIN_DEPENDS roscpp rospy roslib std_msgs)
include_directories(${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/src)
SET(HDRS src/main.h)
SET(SRCS src/main.cpp)
add_executable(my_app_node
${HDRS}
${SRCS}
)
target_link_libraries(my_app_node
${catkin_LIBRARIES}
)
install(TARGETS my_app_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
Now I run `catkin_make install` which compiles the package and copies the binary to the install dir `./install/lib/my_app/my_app_node`:
~/catkin_ws $ ls
build devel install src
~/catkin_ws $ ls install
include lib share env.sh setup.bash setup.sh _setup_util.py setup.zsh
~/catkin_ws $ ll install/lib/my_app
total 2.0M
-rwxr-xr-x 1 user user 2.0M Mai 28 10:58 my_app_node
To execute the app on a remote PC without recompiling it, I only copy the install directory to this PC which already includes the required binary. (Should work, right?)
Until here everything works fine. So here is where the problems start:
**1. ROS_PACKAGE_PATH**
On the remote PC I have to source the setup.bash: `source /home/remote/install/setup.bash`
Unfortunately the `ROS_PACKAGE_PATH` doesn't get set by the setup script. Why? (rospack find doesn't find the package `my_app`
To circumvent this problem I set it manually: `ROS_PACKAGE_PATH=/home/remote/install:$ROS_PACKAGE_PATH`. Now rospack can find the package.
**2. Binary not found with rosrun**
Trying to start the node fails:
~/install$ rospack find my_app
/home/remote/install/share/my_app
~/install$ rosrun my_app my_app_node
[rosrun] Couldn't find executable named my_app_node below /home/remote/install/share/my_app
rosrun can't find the binary in the path: `/home/remote/install/lib/my_app/my_app_node`. Why?
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