Kevin, can you build python_orocos_kdl? I fixed the cmake problems with orocos_kdl, similar to you, but I get a ton of undefined symbol link errors for the python version, which prevents many stacks from building. It is a huge point of failure for me right now.



On Sep 3, 2011, at 10:22 AM, Kevin Walchko <kevin.walchko@gmail.com> wrote:

> Hi,
> 
> [setup]
> 
> ROS Electric
> OSX Lion with Macports
> 
> [Problem]
> 
> Eigen3.cmake couldn't find eigen3
> 
> [Solution]
> 
> Instead of using the included cmake files in orocos_kdl/config/Eigen3.cmake I changed CMakeLists.txt to use pkg-config which macports automatically sets up for OSX. Don't know if Linux does this too.
> 
> CMakeLists.txt:
> include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
> pkg_check_modules(EIGEN3 REQUIRED eigen3)
> include_directories(${EIGEN3_INCLUDE_DIRS})
> #INCLUDE(${PROJ_SOURCE_DIR}/config/FindEigen3.cmake)
> #INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
> 
> 
> Not sure why the pkg-config wasn't used in the first place, it seems to work nice.
> 
> The included Eigen3.cmake appears to be too limited in where it looks, at least for OSX. Could add /opt/local/include/eigen3 but didn't try.
> 
> config/Eigen3.cmake:
> FIND_PATH(EIGEN3_INCLUDE_DIR Eigen/Core /usr/include /usr/include/eigen3)
> 
> Thanks.
> 
> Kevin
> 
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