ROS series: differences and connections between catkin and catkin_make
In ROS, catkin and catkin_make are two tools used to create and build catkin projects. While they have some similarities, they are also very different. Here are the differences and connections between them, and where they apply:
catkin tool
catkin is a tool in ROS for creating and building catkin projects. It is an official ROS tool that can be used to create ROS packages, as well as build catkin projects across platforms.
The main advantage of the catkin tool is that it is very flexible and configurable, and can support multiple ROS distributions and multiple dependency managers (such as Git, SVN, etc.). Additionally, it supports Waf and CMake build systems.
In catkin, builds are usually performed using the catkin_make script, which is a utility of catkin used to automate the build and testing process.
catkin_make tool
catkin_make is a Python script for creating and building catkin projects. It is a third-party tool developed and maintained by the catkin core team.
The main advantage of catkin_make is that it automatically handles many build details, such as generating ament.ini files, clearing the build directory, automatically setting ament.space, automatically creating ament.package.path, etc. In addition, it provides some advanced features, such as using dependencies from specified repositories, supporting multiple dependency managers, etc.
In some cases, catkin_make may be more suitable than catkin, for example:
- When you need to use a specific dependency manager such as Git, SVN, Mercurial, etc.
- When you need to use a specific ROS distribution or ROS version.
- When you need a higher level of customization and control.
Summarize:
catkin and catkin_make are two related ROS tools that are used to create and build catkin projects. catkin is an official ROS tool with flexibility and configurability; while catkin_make is a third-party tool with automation and advanced features. In some cases, catkin may be better suited to your needs; in other cases, catkin_make may be better suited to your needs. You should choose the appropriate tool based on your specific needs and project requirements.