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Build a single package including it's dependencies
catkin_make --only-pkg-with-deps <target_package>
Don't forget to switch back to building all packages when you are done
catkin_make -DCATKIN_WHITELIST_PACKAGES=""
Description
Whitelists only the specified packages and their dependencies by setting the CATKIN_WHITELIST_PACKAGES variable. This variable is stored in CMakeCache.txt and will persist between CMake calls unless explicitly cleared. Source: catkin_make --help
But there is an even better way
Using Catkin-Tools:
sudo apt-get install python-catkin-tools
Build specific package
catkin build <target_package>
Build the package from a directory under the package root
catkin build --this
Advantages:
catkin build from everywherecatkin clean cleans everything (instead of the dangerous rm -rf build devel)Important notes for catkin_tools:
catkin build and catkin_make (delete your build/devel/install folders to switch tools)catkin_build builds all packages seperately there can be problems when passing information between packages via CMake. More InformationOld answer for legacy reasons
catkin_make --pkg <my_package_name>
Example:
catkin_make --pkg turtlebot
Multiple Packages:
catkin_make --pkg <package A> <package B>
But as this doesn't work robustly I recommend switching to catkin_tools which allows to build only one package and many more fancy features:
Is there any reason why I run this option and it keeps compiling everything within the catkin workspace?
Which option? If you mean the `--from-pkg <package>` option, if you specify the first package in the workspace then it will build them all. The idea is that it skips all packages which come before the one you specify, but builds that one package and all packages that follow it.
I also occasionally try to use this trick and it rarely works. It just builds all of the packages still. I also can't tab complete my package.
It did not worked for me either. catkin_make -DCATKIN_WHITELIST_PACKAGES="foo;bar" command worked.
Hi Tommy,
you can configure(!) a catkin workspace to only build one package using -DCATKIN_WHITELIST_PACKAGES
# "List of ';' separated packages to build"
catkin_make -DCATKIN_WHITELIST_PACKAGES="foo;bar"
This should really be documented in the docs and wiki. If you want to build more packages, you'd have to reconfigure.
Other than that, catkin relies on cmake, which generates targets named like the subfolders. So calling catkin_make <targetname> (or make <targetname> in a build folder) will make just this target, and all target it depends on.
Finally you can use catkin_build_isolated, which really invokes cmake+make for each package. It creates isolated build folders in which you can invoke make. If you#d like to suggest for catkin to provide for this in another way(such as an option to place the isolated build folders within the packagefolders, feel free to open an enhancement ticket on github.
I also have tested "catkin_make PACKAGE" and thought that that would work but it does not. That I could use "catkin_make TARGET" was not something I though about testing since I did not think it would work because of name collisions between targets. But it did work and can be very useful.
Doesn't work for me either. I'm not sure if it should. I don't want to hijack your question, so I described the problem here: http://answers.ros.org/question/54215/should-catkin_make-work-for-package-targets/ - the solution might be related though.
catkin_make -DCATKIN_WHITELIST_PACKAGES="foo;bar" works fine but be aware that you will have to run catkin_make -DCATKIN_WHITELIST_PACKAGES="" to be able to build all your packages again.
Also catkin_make -DCATKIN_BLACKLIST_PACKAGES="foo;bar" can be useful not to build some packages.
Hi Delb, thanks for that extra comment about building all packages again. The same thing may be said about blacklisted packages ( if you have a blacklisted package, just setting whitelisted = "" doesn't work... you will need to set blacklisted="" as well,, or remove it from blacklisted list somehow)
The aforementioned answers are incorrect, --pkg still includes all packages as documented here which means if some untargeted package have unmet dependencies, the build will fail.
CATKIN_WHITELIST_PACKAGE does not correctly build dependent packages of the whitelisted package
The proper way is catkin_make --only-pkg-with-deps <target_package>
This command worked for me. The currently selected answer, catkin_make --pkg <package A> did not, as others noted it built all packages.
Add this to your CMakeLists.txt :
OPTION(BUILD_PACKAGE_X "Build package X")
# switch it ON or OFF depending on what you want
set(BUILD_PACKAGE_X ON)
if (BUILD_PACKAGE_X)
# paste your CMakeLists text here
#endif()
Another solution:
put an empty file with the name CATKIN_IGNORE into the package directory.
Asked: 2013-02-04 00:39:58 -0600
Seen: 118,352 times
Last updated: Nov 01 '19
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