Robotics - ROS2 Concon Mixins

Introduction

Colcon Mixins can be used to apply a group of arguments under onw name. Example:

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colcon build --mixin debug clang

This might apply a group of flags related to debug builds, such as:

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--cmake-args -DCMAKE_BUILD_TYPE=Debug

• Note: mixins are applied in the order listed. If two mixins set the same option, the later one can override the earlier one.

To download:

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sudo apt install python3-colcon-mixin

How To Use Mixins

1. Define yaml file for mixins:

   • File structure:

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       my_mixins/
       ├── index.yaml
       ├── debug.yaml
       └── clang.yaml
     

   • index.yaml

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       build:
       debug: debug.yaml
       clang: clang.yaml
     

   • debug.yaml:

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       arguments:
           cmake-args:
               - -DCMAKE_BUILD_TYPE=Debug
     

   • clang.yaml

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       arguments:
           cmake-args:
               - -DCMAKE_C_COMPILER=clang
               - -DCMAKE_CXX_COMPILER=clang++
     

2. Register the mixins:

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colcon mixin add my_mixins /path/to/my_mixins/index.yaml
colcon mixin update

1. To check:

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colcon mixin show

1. Use mixins:

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colcon build --mixin debug clang

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