I'm currently installing ROS on my notebook using Gentoo's own ebuild (no overlay). Everything seems to work mostly fine, but there is a small problem which bothers me: When I use the rospack command (dev-ros/rospack-2.3.1) for anything, e.g. "rospack list" to list all installed packages, a long list of warnings is printed: --- snip --- > rospack list [rospack] Warning: error while looking for /usr/share/polkit-1/rules.d/CATKIN_IGNORE: boost::filesystem::status: Permission denied: "/usr/share/polkit-1/rules.d/CATKIN_IGNORE" [rospack] Warning: error while crawling /usr/share/polkit-1/rules.d: boost::filesystem::directory_iterator::construct: Permission denied: "/usr/share/polkit-1/rules.d" [rospack] Warning: error while looking for /usr/share/polkit-1/rules.d/rospack_nosubdirs: boost::filesystem::status: Permission denied: "/usr/share/polkit-1/rules.d/rospack_nosubdirs" [rospack] Warning: error while looking for /usr/share/polkit-1/rules.d/manifest.xml: boost::filesystem::status: Permission denied: "/usr/share/polkit-1/rules.d/manifest.xml" [rospack] Warning: error while crawling /usr/share/polkit-1/rules.d: boost::filesystem::directory_iterator::construct: Permission denied: "/usr/share/polkit-1/rules.d" [rospack] Warning: error while looking for /usr/share/OpenCV/samples/reg/CATKIN_IGNORE: boost::filesystem::status: Permission denied: "/usr/share/OpenCV/samples/reg/CATKIN_IGNORE" [rospack] Warning: error while crawling /usr/share/OpenCV/samples/reg: boost::filesystem::directory_iterator::construct: Permission denied: "/usr/share/OpenCV/samples/reg" [rospack] Warning: error while looking for /usr/share/OpenCV/samples/reg/rospack_nosubdirs: boost::filesystem::status: Permission denied: "/usr/share/OpenCV/samples/reg/rospack_nosubdirs" […] actionlib /usr/share/actionlib actionlib_msgs /usr/share/actionlib_msgs actionlib_tutorials /usr/share/actionlib_tutorials […] --- snap --- As you can see, rospack complains that it is not able to read the content of the "/usr/share/polkit-1/rules.d/" directory, which has "drwx------ polkitd root" (=0700) permissions, and OpenCV's examples. The first directory belongs to sys-auth/polkit-0.113 and to net-misc/networkmanager-1.0.12-r1. There is only one file inside which belongs to networkmanager. I already fixed the permissions for OpenCV's examples (media-libs/opencv-3.1.0-r4[+examples]), which are partially installed as non-readable for users ("drwx------ root root"). While it is obvious for OpenCV that those files can be user readable (chmod a+rx /usr/share/OpenCV/samples/*), I'm not sure if it is good to make them user readable for anything policykit-related. In the end, I think using /usr/share as ROS' package path is suboptimal. It's quite likely that other Gentoo ebuilds could install non-accessible files into /usr/share (on my system "equery belongs /usr/share | grep --invert-match ros | wc -l" returns 1256; most of them use /usr/share/doc/, I guess) which would require fixes in their ebuilds. When running "strace -e trace=file rospack list 2>&1 | grep "/usr/share" | wc -l", it yields 531963 on my system, which seems a little too much for the actual task. The Filesystem Hierarchy Standard says that /usr/share is for "all read-only architecture independent data files" and that "it is recommended that a subdirectory be used". (see http://www.pathname.com/fhs/pub/fhs-2.3.html#USRSHAREARCHITECTUREINDEPENDENTDATA) I would recommend using /opt/ros, /usr/share/ros_packages, or /usr/share/ros as ROS_PACKAGE_PATH instead. The latter one would conflict with ROS_ROOT?! (Nonetheless, I'm extremely grateful that you're working on getting ROS into Gentoo. Thank you!) Reproducible: Always Steps to Reproduce: 1. Install ROS (incl. dev-ros/rospack). 2. Install OpenCV with examples USE flag set. 3. Execute "rospack list", see multiple unnecessary errors. Expected Results: No errors when running a very common ROS-related command. Please note that you might have fixed file permissions before. emerge seems to leave file permissions when re-installing. > emerge --info Portage 2.2.28 (python 3.4.3-final-0, default/linux/amd64/13.0/systemd, gcc-4.9.3, glibc-2.22-r4, 4.7.4-gentoo x86_64) ================================================================= System uname: Linux-4.7.4-gentoo-x86_64-Intel-R-_Core-TM-_i5-6200U_CPU_@_2.30GHz-with-gentoo-2.2 KiB Mem: 15829776 total, 4958564 free KiB Swap: 0 total, 0 free Timestamp of repository gentoo: Sat, 24 Sep 2016 07:15:01 +0000 sh bash 4.3_p46-r1 ld GNU ld (Gentoo 2.25.1 p1.1) 2.25.1 app-shells/bash: 4.3_p46-r1::gentoo dev-java/java-config: 2.2.0-r3::gentoo dev-lang/perl: 5.22.2::gentoo dev-lang/python: 2.7.10-r1::gentoo, 3.4.3-r1::gentoo dev-util/cmake: 3.5.2-r1::gentoo dev-util/pkgconfig: 0.28-r2::gentoo sys-apps/baselayout: 2.2::gentoo sys-apps/openrc: 0.21.7::gentoo sys-apps/sandbox: 2.10-r1::gentoo sys-devel/autoconf: 2.13::gentoo, 2.69::gentoo sys-devel/automake: 1.11.6-r1::gentoo, 1.14.1::gentoo, 1.15::gentoo sys-devel/binutils: 2.25.1-r1::gentoo sys-devel/gcc: 4.9.3::gentoo sys-devel/gcc-config: 1.7.3::gentoo sys-devel/libtool: 2.4.6::gentoo sys-devel/make: 4.1-r1::gentoo sys-kernel/linux-headers: 4.3::gentoo (virtual/os-headers) sys-libs/glibc: 2.22-r4::gentoo Repositories: gentoo location: /portage sync-type: rsync sync-uri: rsync://rsync.de.gentoo.org/gentoo-portage priority: -1000 sync-rsync-extra-opts: --exclude-from=/etc/portage/rsync_excludes LocalOverlay location: /usr/local/portage masters: gentoo Installed sets: @rsnapshot_scripts_deps ACCEPT_KEYWORDS="amd64" ACCEPT_LICENSE="*" CBUILD="x86_64-pc-linux-gnu" CFLAGS="-march=native -O2 -pipe" CHOST="x86_64-pc-linux-gnu" CONFIG_PROTECT="/etc /usr/lib64/libreoffice/program/sofficerc /usr/share/config /usr/share/gnupg/qualified.txt" CONFIG_PROTECT_MASK="/etc/ca-certificates.conf /etc/dconf /etc/env.d /etc/fonts/fonts.conf /etc/gconf /etc/gentoo-release /etc/revdep-rebuild /etc/sandbox.d /etc/terminfo /etc/texmf/language.dat.d /etc/texmf/language.def.d /etc/texmf/updmap.d /etc/texmf/web2c" CXXFLAGS="-march=native -O2 -pipe" DISTDIR="/portage/distfiles" EMERGE_DEFAULT_OPTS="--keep-going --quiet-build=y" FCFLAGS="-O2 -pipe" FEATURES="assume-digests binpkg-logs clean-logs compressdebug config-protect-if-modified distlocks ebuild-locks fixlafiles merge-sync news parallel-fetch preserve-libs protect-owned sandbox sfperms splitdebug strict unknown-features-warn unmerge-logs unmerge-orphans userfetch userpriv usersandbox usersync xattr" FFLAGS="-O2 -pipe" GENTOO_MIRRORS="http://mirror.netcologne.de/gentoo/ http://distfiles.gentoo.org" LANG="en_US.UTF-8" LC_ALL="en_US.UTF-8" LDFLAGS="-Wl,-O1 -Wl,--as-needed" MAKEOPTS="-j5" PKGDIR="/portage/packages" PORTAGE_CONFIGROOT="/" PORTAGE_RSYNC_EXTRA_OPTS="--exclude-from=/etc/portage/rsync_excludes" PORTAGE_RSYNC_OPTS="--recursive --links --safe-links --perms --times --omit-dir-times --compress --force --whole-file --delete --stats --human-readable --timeout=180 --exclude=/distfiles --exclude=/local --exclude=/packages --exclude=/.git" PORTAGE_TMPDIR="/var/tmp" USE="acl amd64 berkdb bzip2 cli cracklib crypt cxx dri fortran gdbm iconv ipv6 mmx mmxext modules multilib ncurses nls nptl openmp pam pcre readline seccomp session sse sse2 ssl systemd tcpd udev unicode xattr xinerama zlib" ABI_X86="64" ALSA_CARDS="ali5451 als4000 atiixp atiixp-modem bt87x ca0106 cmipci emu10k1x ens1370 ens1371 es1938 es1968 fm801 hda-intel intel8x0 intel8x0m maestro3 trident usb-audio via82xx via82xx-modem ymfpci" APACHE2_MODULES="authn_core authz_core socache_shmcb unixd actions alias auth_basic authn_alias authn_anon authn_dbm authn_default authn_file authz_dbm authz_default authz_groupfile authz_host authz_owner authz_user autoindex cache cgi cgid dav dav_fs dav_lock deflate dir disk_cache env expires ext_filter file_cache filter headers include info log_config logio mem_cache mime mime_magic negotiation rewrite setenvif speling status unique_id userdir usertrack vhost_alias" CALLIGRA_FEATURES="kexi words flow plan sheets stage tables krita karbon braindump author" CAMERAS="ptp2" COLLECTD_PLUGINS="df interface irq load memory rrdtool swap syslog" CPU_FLAGS_X86="aes avx f16c fma3 mmx mmxext mpx popcnt sse sse2 sse3 sse4_1 sse4_2 ssse3" ELIBC="glibc" GPSD_PROTOCOLS="ashtech aivdm earthmate evermore fv18 garmin garmintxt gpsclock itrax mtk3301 nmea ntrip navcom oceanserver oldstyle oncore rtcm104v2 rtcm104v3 sirf superstar2 timing tsip tripmate tnt ublox ubx" INPUT_DEVICES="evdev keyboard mouse synaptics" KERNEL="linux" L10N="en de" LCD_DEVICES="bayrad cfontz cfontz633 glk hd44780 lb216 lcdm001 mtxorb ncurses text" LIBREOFFICE_EXTENSIONS="pdfimport" LINGUAS="en de" OFFICE_IMPLEMENTATION="libreoffice" PHP_TARGETS="php5-6" PYTHON_SINGLE_TARGET="python2_7" PYTHON_TARGETS="python2_7 python3_4" RUBY_TARGETS="ruby21" SANE_BACKENDS="pixma" USERLAND="GNU" VIDEO_CARDS="intel vesa" XTABLES_ADDONS="quota2 psd pknock lscan length2 ipv4options ipset ipp2p iface geoip fuzzy condition tee tarpit sysrq steal rawnat logmark ipmark dhcpmac delude chaos account" USE_PYTHON="2.7 3.4" Unset: CC, CPPFLAGS, CTARGET, CXX, INSTALL_MASK, PORTAGE_BUNZIP2_COMMAND, PORTAGE_COMPRESS, PORTAGE_COMPRESS_FLAGS
That was something I never managed to tackle properly. You could ignore the warnings, they're harmless. However, rospack/rospkg crawls the whole /usr/share hierarchy which is *very* slow. I've followed your suggestion and made catkin install package.xml files into /usr/share/ros_packages/$PKG/package.xml. This should fixes all the issues, however, everyone needs to rebuild *ALL* ros packages in order to get the changes, see the postinst warning in >=dev-util/catkin-0.7.1-r2.
I'm also trying to get ROS working on my laptop using only portage. When I install dev-ros/pointcloud_to_laserscan and run it with rosrun I get error messages about missing XML: --- snippet --- > rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node [ERROR] [1478948192.291873429]: Skipping XML Document "/usr/share/ros_packages/test_nodelet_topic_tools/test/test_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.291926503]: Skipping XML Document "/usr/share/ros_packages/test_nodelet/test_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.291941547]: Skipping XML Document "/usr/share/ros_packages/depth_image_proc/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.291959169]: Skipping XML Document "/usr/share/ros_packages/stereo_image_proc/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.291978421]: Skipping XML Document "/usr/share/ros_packages/image_publisher/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.291998651]: Skipping XML Document "/usr/share/ros_packages/image_view/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.292016187]: Skipping XML Document "/usr/share/ros_packages/pointcloud_to_laserscan/nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.292035250]: Skipping XML Document "/usr/share/ros_packages/pcl_ros/pcl_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.292052647]: Skipping XML Document "/usr/share/ros_packages/image_rotate/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.292070149]: Skipping XML Document "/usr/share/ros_packages/nodelet_tutorial_math/nodelet_math.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1478948192.292092511]: Skipping XML Document "/usr/share/ros_packages/image_proc/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. --- end of snippet --- It seems like this is due to the ${prefix} used in many package.xml (for example: https://github.com/ros-perception/pointcloud_to_laserscan/blob/317e389eb3f44636e51e8d56a1156d7af9d5e1be/package.xml#L36). According to the comment on the following forum question, ${prefix} is the parent directory of the package.xml (e.g. /usr/share/ros_packages/pointcloud_to_laserscan). http://answers.ros.org/question/205562/the-value-of-prefix-in-packagexml/ I think this means that the XML files that rosrun can't find need to be in the same directory as package.xml. I can think of two solutions to this problem: 1. patch package.xml and change ${prefix} to /usr/share/${PN} 2. install the whole ros distro in /opt/ros Although I understand it could cause some confusion when transitioning to option 2, I think it would cause less issues down the road if we follow where the ROS docs also install it to. > emerge --info Portage 2.3.0 (python 2.7.10-final-0, default/linux/amd64/13.0, gcc-5.4.0, glibc-2.22-r4, 4.4.26-gentoo x86_64) ================================================================= System uname: Linux-4.4.26-gentoo-x86_64-Intel-R-_Core-TM-_i7-6700HQ_CPU_@_2.60GHz-with-gentoo-2.2 KiB Mem: 16343688 total, 11552184 free KiB Swap: 33042428 total, 33042428 free Timestamp of repository gentoo: Mon, 31 Oct 2016 02:30:01 +0000 sh bash 4.3_p48 ld GNU ld (Gentoo 2.25.1 p1.1) 2.25.1 app-shells/bash: 4.3_p48::gentoo dev-lang/perl: 5.22.2::gentoo dev-lang/python: 2.7.10-r1::gentoo, 3.4.3-r1::gentoo dev-util/cmake: 3.6.2::gentoo dev-util/pkgconfig: 0.28-r2::gentoo sys-apps/baselayout: 2.2::gentoo sys-apps/openrc: 0.21.7::gentoo sys-apps/sandbox: 2.10-r1::gentoo sys-devel/autoconf: 2.13::gentoo, 2.69::gentoo sys-devel/automake: 1.14.1::gentoo, 1.15::gentoo sys-devel/binutils: 2.25.1-r1::gentoo sys-devel/gcc: 5.4.0::gentoo sys-devel/gcc-config: 1.7.3::gentoo sys-devel/libtool: 2.4.6::gentoo sys-devel/make: 4.1-r1::gentoo sys-kernel/linux-headers: 4.3::gentoo (virtual/os-headers) sys-libs/glibc: 2.22-r4::gentoo Repositories: gentoo location: /usr/portage sync-type: rsync sync-uri: rsync://rsync.gentoo.org/gentoo-portage priority: -1000 ros-overlay location: /var/lib/layman/ros-overlay masters: gentoo priority: 0 local_overlay location: /usr/local/portage/local_overlay masters: gentoo priority: 1 ACCEPT_KEYWORDS="amd64" ACCEPT_LICENSE="* -@EULA" BOOTSTRAP_USE="cxx unicode internal-glib python_targets_python3_4 python_targets_python2_7 multilib" CALLIGRA_FEATURES="kexi words flow plan sheets stage tables krita karbon braindump author" CBUILD="x86_64-pc-linux-gnu" CFLAGS="-O2 -pipe" CFLAGS_amd64="-m64" CFLAGS_x32="-mx32" CFLAGS_x86="-m32" CHOST="x86_64-pc-linux-gnu" CHOST_amd64="x86_64-pc-linux-gnu" CHOST_x32="x86_64-pc-linux-gnux32" CHOST_x86="i686-pc-linux-gnu" CONFIG_PROTECT="/etc /usr/share/gnupg/qualified.txt" CONFIG_PROTECT_MASK="/etc/ca-certificates.conf /etc/env.d /etc/fonts/fonts.conf /etc/gconf /etc/gentoo-release /etc/revdep-rebuild /etc/sandbox.d /etc/terminfo" CXXFLAGS="-O2 -pipe" DISTDIR="/usr/portage/distfiles" EMERGE_DEFAULT_OPTS="-av --keep-going" FCFLAGS="-O2 -pipe" FEATURES="assume-digests binpkg-logs config-protect-if-modified distlocks ebuild-locks fixlafiles merge-sync news parallel-fetch preserve-libs protect-owned sandbox sfperms strict unknown-features-warn unmerge-logs unmerge-orphans userfetch userpriv usersandbox usersync xattr" FETCHCOMMAND_SSH="bash -c "x=\${2#ssh://} ; host=\${x%%/*} ; port=\${host##*:} ; host=\${host%:*} ; [[ \${host} = \${port} ]] && port= ; exec rsync --rsh=\"ssh \${port:+-p\${port}} \${3}\" -avP \"\${host}:/\${x#*/}\" \"\$1\"" rsync "${DISTDIR}/${FILE}" "${URI}" "${PORTAGE_SSH_OPTS}"" FFLAGS="-O2 -pipe" GENTOO_MIRRORS="http://distfiles.gentoo.org" IUSE_IMPLICIT="abi_x86_64 prefix prefix-guest" LANG="en_US.UTF-8" LDFLAGS="-Wl,-O1 -Wl,--as-needed" LDFLAGS_amd64="-m elf_x86_64" LDFLAGS_x32="-m elf32_x86_64" LDFLAGS_x86="-m elf_i386" MAKEOPTS="-j9" PKGDIR="/usr/portage/packages" PORTAGE_CONFIGROOT="/" PORTAGE_RSYNC_OPTS="--recursive --links --safe-links --perms --times --omit-dir-times --compress --force --whole-file --delete --stats --human-readable --timeout=180 --exclude=/distfiles --exclude=/local --exclude=/packages --exclude=/.git" PORTAGE_TMPDIR="/var/tmp" PROFILE_ONLY_VARIABLES="ARCH ELIBC IUSE_IMPLICIT KERNEL USERLAND USE_EXPAND_IMPLICIT USE_EXPAND_UNPREFIXED USE_EXPAND_VALUES_ARCH USE_EXPAND_VALUES_ELIBC USE_EXPAND_VALUES_KERNEL USE_EXPAND_VALUES_USERLAND" USE="X acl alsa amd64 berkdb bzip2 cli cracklib crypt cxx dri flac fortran gdbm gif gtk3 iconv ipv6 jpeg mmx mmxext modules mp3 multilib ncurses nls nptl openmp pam pcre png readline seccomp session sse sse2 ssl tcpd unicode vim-syntax xattr xft xinerama zlib" ABI_X86="64" ALSA_CARDS="ali5451 als4000 atiixp atiixp-modem bt87x ca0106 cmipci emu10k1x ens1370 ens1371 es1938 es1968 fm801 hda-intel intel8x0 intel8x0m maestro3 trident usb-audio via82xx via82xx-modem ymfpci" APACHE2_MODULES="authn_core authz_core socache_shmcb unixd actions alias auth_basic authn_alias authn_anon authn_dbm authn_default authn_file authz_dbm authz_default authz_groupfile authz_host authz_owner authz_user autoindex cache cgi cgid dav dav_fs dav_lock deflate dir disk_cache env expires ext_filter file_cache filter headers include info log_config logio mem_cache mime mime_magic negotiation rewrite setenvif speling status unique_id userdir usertrack vhost_alias" CALLIGRA_FEATURES="kexi words flow plan sheets stage tables krita karbon braindump author" CAMERAS="ptp2" COLLECTD_PLUGINS="df interface irq load memory rrdtool swap syslog" CPU_FLAGS_X86="aes avx avx2 fma3 mmx mmxext popcnt sse sse2 sse3 sse4_1 sse4_2 ssse3" ELIBC="glibc" GPSD_PROTOCOLS="ashtech aivdm earthmate evermore fv18 garmin garmintxt gpsclock itrax mtk3301 nmea ntrip navcom oceanserver oldstyle oncore rtcm104v2 rtcm104v3 sirf superstar2 timing tsip tripmate tnt ublox ubx" INPUT_DEVICES="keyboard mouse evdev" KERNEL="linux" LCD_DEVICES="bayrad cfontz cfontz633 glk hd44780 lb216 lcdm001 mtxorb ncurses text" LIBREOFFICE_EXTENSIONS="presenter-console presenter-minimizer" OFFICE_IMPLEMENTATION="libreoffice" PHP_TARGETS="php5-6" PYTHON_SINGLE_TARGET="python2_7" PYTHON_TARGETS="python2_7 python3_4" RUBY_TARGETS="ruby20 ruby21" USERLAND="GNU" VIDEO_CARDS="nvidia intel" XTABLES_ADDONS="quota2 psd pknock lscan length2 ipv4options ipset ipp2p iface geoip fuzzy condition tee tarpit sysrq steal rawnat logmark ipmark dhcpmac delude chaos account"
Hi guys, I found the same problem when porting ROS to Debian. Instead of changing the directory, I've limited the search depth for /usr/share. See my patches here: https://anonscm.debian.org/cgit/debian-science/packages/ros/ros-rospack.git/tree/debian/patches/0004-Limit-search-depth-for-usr-share.patch https://anonscm.debian.org/cgit/debian-science/packages/ros/ros-rospkg.git/tree/debian/patches/0002-Limit-search-in-usr-share.patch afaik this should be fine when using catkin, but I'm open for discussion and talking to upstream about it as well. P.S.: Great to see that you are installing ROS into /usr as well. You can find a lot of patches for that in the Debian repos: https://anonscm.debian.org/cgit/debian-science/packages/ros (*/debian/patches) Would be great to combine our efforts here, so maybe we can get upstream to accept them. Cheers Jochen
