Creating A Package

Catkin Workspace

If you do not already have a catkin workspace, create one: (See http://wiki.ros.org/catkin/Tutorials/create_a_workspace for details, summary bellow)

source /opt/ros/hydro/setup.bash
cd ~
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

Now when you open a new terminal, be sure to source your workspace:

source ~/catkin_ws/devel/setup.bash

Create a rosjava package

A rosjava package is similar to a standard ROS package, but is specifically for Java based nodes and includes gradle build files. Unlike normal packages, an additional level of hierarchy is introduced: a single rosjava package contains "rosjava projects", which in turn can contain multiple ros nodes.

To create a rosjava package use the special catkin tool:

cd ~/catkin_ws/src   # change to where your workspace is
catkin_create_rosjava_pkg java_projects
cd java_projects

Inside your new java_projects pacakge is a build.gradle file that provides build rules. By default, all your code would live inside the com.github.rosjava.java_projects namespace. Open this file and change rosjava to uobirlab (or anything you prefer).

In addition, the CMakeLists.txt file that is autogenerated includes android build instructions by default. Open that file and do a global replace of "android" with "rosjava".