Emacs Catkin Package

This package integrates the catkin build tool for ROS packages into Emacs. With it you can:

• Build one, multiple or all packages in the workspace
• Setup, initialize and clean the workspace
• Configure cmake, make and catkin_make arguments
• Blacklist or whitelist packages in the workspace

Demo

Installation

Since you have found this package I assume you have ROS installed. If you haven't already install catkin-tools:

sudo pip install catkin_tools

To use the package install it via Melpa: M-x package-install RET helm-catkin RET

All features:

Lisp Function Name	Explanation
helm-catkin-set-workspace	Sets the path to the catkin workspace for all further catkin commands
helm-catkin-no-workspace	Clears the variable helm-catkin-workspace and uses "per-buffer" mode
helm-catkin	Main command for showing, configuring and building in a helm window
helm-catkin-build	Build one, multiple or all packages in the current workspace
helm-catkin-init	Initializes the workspace and create a src/ folder if it doesn't exist
helm-catkin-clean	Clean the workspace (remove build/, devel/ and install/ folders)
helm-catkin-config-show	Shows the current config in a new buffer
helm-catkin-config-open	Opens the .catkin_tools/profiles/default/config.yaml file in a buffer
helm-catkin-set-devel-layout	Sets the devel layout to linked, merged, or isolated.

Hint: Use C-h f <function-name> to get more information about parameters

Workspace Setup

This package uses the catkin-tools python wrapper. The catkin_make and catkin_make_isolated commands are NOT supported.

Catkin relies on having a decicated workspace set to do anything. You can control which workspace is used in two different ways, where the first has priority over the second:

1. Set the helm-catkin-workspace variable to some path. This can be done e.g. interactively by calling helm-catkin-set-workspace.
2. Open a file inside the workspace. The directory path of that file will be used for workspace, unless heml-catkin-workspace is set.

If you want to explicately set a different workspace use M-x helm-catkin-set-workspace which prompts you to enter a path to the root of the catkin workspace. You can also add this function call with an argument to your init file like:

(helm-catkin-set-workspace "~/path/to/your/catkin/ws")

To query the current workspace use C-h v RET helm-catkin-workspace RET.

Building Packages

To build your packages call the helm-catkin-build function. This interactively prompts a helm with two sections. The first section lets you build the workspace specified by the config you configured. The second Packages section list all packages in your workspace. Pressing RET on any will build this package regardless of any configured black- or whitelists. Building opens a special-mode window with the build output of helm-catkin build in it. You can close this window by pressing q when the build is done.

Hint : Use M-m in the helm dialog to mark all before you press enter to build your whole workspace.

Configuring the Workspace

The most general command is helm-catkin! This lists the current catkin config of the workspace in a helm dialog. The dialog is structured in sections. Each section contains list arguments which you can edit or remove. If in one section contains no arguments, the section is omitted. For a clean workspace for example you would only see the Packages and [New] section.

Sections

Section	Description
[New]	Add a new argument to the config
CMake	The arguments passed to cmake
Make	The arguments passed to make
Catkin Make	The arguments passed to catkin_make
Whitelist	Which packages are whitelisted, i.e. are build exclusively
Blacklist	Which packages are blacklisted, i.e. are skipped during build
Packages	The complete set of packages in the current workspace

Actions

Each section has a distinct set of actions for each item. Some actions do make sense for single items in each section only, however most of them can be executed for mulitple items in each section. The first action [F1] is always the default choice if you just press enter. To see the actions press C-z in the helm query

Hints

• Most of the actions above accept multiple items from that section.
• You can list all available actions with C-z
• You can mark multiple items in one section with C-SPC
• You can mark all items in one section with M-m
• You can build the entire workspace if you move down with C-h to the Packages section, press M-m to select all and hit RET.

After most action the helm dialog will show again (execpt for Build and Open actions). To quit it just press ESC.")

Shortcuts

Spacemacs users can use these sample shortcuts in their .spacemacs init file:

(defun dotspacemacs/user-config ()

  ;; ... other user config ...

  ;; Helm-Catkin shortcut
  (spacemacs/declare-prefix "yc" "Catkin")
  (spacemacs/set-leader-keys "ycc" 'helm-catkin)
  (spacemacs/set-leader-keys "ycb" 'helm-catkin-build)
  (spacemacs/set-leader-keys "ycw" 'helm-catkin-set-workspace)
  (spacemacs/set-leader-keys "ycx" 'helm-catkin-clean)
  (spacemacs/set-leader-keys "yci" 'helm-catkin-init)
  (spacemacs/set-leader-keys "yco" 'helm-catkin-config-open)

)

Since you seem to be a ROS user you might find the helm-ros also interessting.

Troubleshooting

I get an error running any helm-catkin- command that the workspace cannot be found!

Follow the Workspace Setup. In addition you can query the values of $CMAKE_PREFIX_PATH by calling M-x getenv RET CMAKE_PREFIX_PATH RET. Check the value of helm-catkin-workspace and verify that it is pointing to a valid catkin workspace (e.g. one with a .catkin_tools folder inside.) If this variable is null, call any helm-catkin- command from a buffer visiting a file within such a workspace.

I need support for multiple catkin profiles!

Up to now only the default profile of any workspace is used. If enough people require this feature, I'll see what I can do to implement it. Up to then feel free to adjust the package and create a pull request.

I need more help!

Use C-h f and enter the name of the function you don't understand to get a help window of it. In the helm dialogs check the help page by with C-c ?.