These might help.

https://kforge.ros.org/geometry/trac/report/1

Tickets #3 and #4

Sent from my iPhone

On Sep 3, 2011, at 12:50 PM, Kevin Walchko <kevin.walchko@gmail.com> wrote:

> I am working on it right now …
>
> My problem is python_orocos_kdl is looking for eigen and I can't load it from macports due to a checksum miss match. Googling around, it appears that author likes to do stealth updates and I can't seem to figure out how to force macports to install eigen. Did you have this problem?
>
> On Sep 3, 2011, at 1:45 PM, Nicholas Butko wrote:
>
>> 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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