How to have colcon bundle the correct version of dependencies

Question

Intro: I'm able to do colcon build and bundle correctly on RoboMaker, and am able launch the simulation, but it fails when trying to find the correct armadillo library.
 `error while loading shared libraries: libarmadillo.so.8: cannot open shared object file: No such file or directory`
 I found out that bundle included the v6.5 armadillo library, whereas for my simulation to work it needs the v8.5 version of armadillo.  
  
ROS version: Kinetic  
Gazebo version: 9  
  
Question: Is there a way for me to guide colcon bundle to get the version of armadillo I need?  
  
My understanding of colcon bundle is that it looks into the package.xml of each ROS package and get their dependencies accordingly. With that in mind, I tried putting in my package.xml files:  
1.

```
armadillo```

2.

```
armadillo```

3.

```
armadillo```

I also noticed this open issue https://github.com/colcon/colcon-bundle/issues/118 (that led me to https://github.com/colcon/colcon-bundle/pull/117), but wasn't sure how to apply them to solve my problem.  
  
Edited by: khaiyichin on Jan 9, 2020 3:38 PM  
  
Edited by: khaiyichin on Jan 9, 2020 4:21 PM

Answer

Thank you for your question. Please find the steps below:  
  
1. build colcon from the repo HEAD as the latest release doesn’t have the PR (e.g. pip3 install git+https://github.com/colcon/colcon-bundle@HEAD)  
  
2. Then create a local custom-rosdep.yaml file that overrides armadillo in the rosdep.yaml that specifies the version they need. See https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml#L94-L99.

```
armadillo:
    ubuntu: [http://libarmadillo-dev=8.500.1]
```

3. Point rosdep at this custom-rosdep.yaml file:

```
/etc/ros/rosdep/sources.list.d$ cat 00-overrides.list
yaml file:///.../custom-rosdep.yaml
```

4. Run rosdep update to use the new dependencies.  
  
Edited by: pdaws on Jan 15, 2020 4:54 PM  
  
Edited by: pdaws on Jan 15, 2020 4:55 PM  
  
Edited by: pdaws on Jan 15, 2020 4:56 PM  
  
Edited by: pdaws on Jan 15, 2020 4:56 PM  
  
Edited by: pdaws on Jan 15, 2020 4:57 PM  
  
Edited by: pdaws on Jan 15, 2020 4:58 PM

Answer

Thanks for the reply. I haven't yet been able to test the solution you provided, as I was able to find a way around that.  
  
For anyone else interested:  
Basically what I do is first create a bundle (which creates the cache folder), copy over the libraries needed from my local machine to the locations in the bundle cache folder, removing the dependency_hash* JSON files and then do the bundle again.

How to have colcon bundle the correct version of dependencies

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