Hello,

I am running ROS Box Turtle on a 64-bit Arch Linux installation. We are
currently in the process of restructuring our code to run with ROS.

I am now porting over our robot simulator, which uses ODE. For several days
I have been trying to get the simulator (a package I have named "atrias_sim"
under the stack "ros_atrias") to compile using the "opende" package provided
by ROS. I am running into two problems:

   1. The 64-bit architecture requires us to use double precision math, but
   I have not found an effective way of passing "--enable-double-precision" to
   the configure script of ODE when ROS builds it.
   2. Rosmake outputs the following error when building atrias_sim: "fatal
   error: drawstuff/drawstuff.h: No such file or directory"

First, how do I customize how ROS packages are built? ODE builds
successfully in single precision, but this will be problematic later on. I
tried uncommenting "--enable-double-precision" in the "Makefile.ode.tarball"
file in the opende package directory to no effect.

Second, what is the proper way to include packages such as ODE? For
reference, I have attached some of my config files, which I modeled after
those of other packages that use opende (e.g., collision_space, gazebo, and
pr2_gazebo_plugins). What do I have to do for rosmake to automatically find
drawstuff.h? I can manually specify the include path in
/path/to/atrias_sim/CMakeLists.txt, but I hope there is a better solution,
since none of the three aforementioned packages do this.

Third, I should mention that I am new to CMake and suspect that my
CMakeLists.txt is incorrect. I get make errors the first time I build
atrias_sim but they disappear on the second build. This makes me suspect
that I am incorrectly specifying the libraries for the atrias_sim
executable. Could someone more experienced with CMake please verify this?

Thank you!

Soo-Hyun Yoo