Daniel, if this solution works out, it will be a real boon. In the perception group, our typical development strategy is to make a library independent of ROS (and with as few outside dependencies as possible), then wrap that in different ways for ROS, testing, visualization, etc. Eliminating unneeded link libs in a painless way would be great. There's another issue which is the build system, that some folks here are looking into, namely, being able to extract a useful standalone build from the ROS package. Cheers --Kurt On Wed, Aug 4, 2010 at 11:02 PM, Daniel Stonier wrote: > > I didn't know about this linker option until yesterday...turns out to be > really useful. Setting -Wl,--as-needed in the ROS_LINK_FLAGS variable  in > rosconfig.cmake, we can drop any unused linking dependencies. > > We've been bashing back and forth here at work on how to build our packages > - ideally we want to be able to build a regular algorithm library or device > driver with no ros connections so we can use in standalone projects, and > also an rosnode lib around that, but unfortunately the manifest drags in all > the ros dependencies into the algorithm library/device driver. Up until now, > we were splitting into separate packages when we really needed to, but is a > bit awkward. There are other use cases too, simple debugging utilities > alongside the main library package, or full blown gui tools. > This solves all of that. Would there be any reason/disadvantage to having it > as a default link flag for gcc in the ros? It's not a big issue as its easy > enough to enable globally yourself, but it's something that could just as > easily be 'under the hood' so to speak. > -- > Phone : +82-10-5400-3296 (010-5400-3296) > Home: http://snorriheim.dnsdojo.com/ > Yujin Robot: http://www.yujinrobot.com/ > Embedded Control Libraries: http://snorriheim.dnsdojo.com/redmine/wiki/ecl > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >