Hi Soo-Hyun,<br><br><br><div class="gmail_quote">On Mon, Aug 16, 2010 at 4:32 PM, Soo-Hyun Yoo <span dir="ltr">&lt;<a href="mailto:yoos117@gmail.com">yoos117@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

Hi John,<div><br></div><div>We used ODE in our non-ROS code by having the following in our Makefile: &quot;<font face="&#39;courier new&#39;, monospace">-I ${ODE_PATH}include/ -l ode -L ${ODE_PATH}drawstuff/src/.libs/ -l drawstuff</font>&quot;.</div>



<div><br></div><div><div>It may or may not be helpful for you to know that robot_sim.h has &quot;#include &lt;drawstuff/drawstuff.h&gt;&quot; explicitly stated. Is this correct usage? To remove Make&#39;s complaint that it could not find the header file, I copied drawstuff.h and version.h to <font face="&#39;courier new&#39;, monospace">/path/to/opende/opende/include/drawstuff</font><font face="arial, helvetica, sans-serif">. Is this what you meant by &quot;</font><span style="font-family: arial,sans-serif; font-size: 13px; border-collapse: collapse;">installing them into the ros install directories (opende/opende/*)&quot; </span><span style="font-family: arial,sans-serif; font-size: 13px; border-collapse: collapse;">?</span></div>

</div></blockquote><div><br>yes, installing includes under opende/opende/include/drawstuff and libdrawstuff.* under opende/opende/lib<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

<div>

</div><div><br></div><div><div class="gmail_quote"><div class="im"><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Sorry, I missed one more flag,  <b>--disable-demos </b>should be replaced by <b>--enable-demos</b> in order for drawstuff library to be built.  It seems the two error logs you&#39;ve sent are both failing at finding the drawstuff library, the above change should fix it (but again, you&#39;ll have to trigger a re-configure in opende by make clean or equivalent).<br>



</blockquote><div><br></div></div><div>I flipped that flag to --enable-demos as you described and saw that <font face="&#39;courier new&#39;, monospace"><a href="http://libdrawstuff.la" target="_blank">libdrawstuff.la</a></font> was built in <font face="&#39;courier new&#39;, monospace">build/opende_1730_patched_with_damping/drawstuff/src/</font><font face="arial, helvetica, sans-serif">. However, even after a full recompilation of opende, Make complains: &quot;</font><font face="&#39;courier new&#39;, monospace">/usr/bin/ld: cannot find -ldrawstuff</font><font face="arial, helvetica, sans-serif">&quot;. I have attached the output log.</font></div>



<div><font face="arial, helvetica, sans-serif"><br></font></div><div><font face="arial, helvetica, sans-serif">Also, the output of </font><font face="&#39;courier new&#39;, monospace">/path/to/opende/opende/bin/ode-config</font><font face="arial, helvetica, sans-serif"> is the following:</font></div>



<div><font face="arial, helvetica, sans-serif"><br></font></div><blockquote style="margin: 0px 0px 0px 40px; border-style: none; padding: 0px;">

<div><span style="font-family: &#39;courier new&#39;,monospace;">-I/home/yoos/devel/ros/stacks/physics_ode/opende/opende/include -DdDOUBLE</span></div><div><div><font face="&#39;courier new&#39;, monospace">-Wl,-rpath,/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib -L/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib -lode</font></div>



</div></blockquote><div><div><br></div><div>Shouldn&#39;t <font face="&#39;courier new&#39;, monospace">-ldrawstuff</font> be in there somewhere?</div></div></div></div></blockquote><div><br>you&#39;re right, ode-config needs additional modifications for this to work without the above exporting step.  Alternatively, you could use the flags exported by rospack (e.g. rospack cflags-only-I opende, etc.) if you&#39;ve made the modifications to the opende manifest.xml as I suggested in the earlier email.<br>

 <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div class="gmail_quote"><div class="im"><div><br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">



Also I would like to note that drawstuff is considered to be part of ODE demo and not part of the 
dynamics engine library, so it&#39;s not officially exported into the ODE 
installation directories.  If it&#39;s extremely useful, we can consider exporting the c++ flags or simply installing them into the ros install directories (opende/opende/*) by default as well.  Please ticket me on it.<br>



</blockquote><div><br></div></div><div><div>I apologize for my lack of insight into our code, but I do not know what drawstuff is actually used for in robot_sim, as I did not write it. I will, however, look into it, and if it seems useful enough, submit a ticket.</div>

</div></div></div></blockquote><div><br>great!  I&#39;ll wait to add these changes.<br> <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

<div><div class="gmail_quote"><div>

</div><div class="im"><div><br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">As Brian mentioned, there&#39;s no plans to customize builds for  3rd party packages under ROS for now.   Would it be sufficient to make ODE compile with double precision by default?  I&#39;ve been meaning to switch it over as the gains at keeping things float on most modern computers are less significant.  As for drawstuff, if its a dependency of atrias_sim, I can enable the demos build by default as well.  Please see changes in r31755.  If there are no objections, the changes should be included in the next physics_ode release.</blockquote>



<div><br></div></div><div>It would indeed be nice if double precision and the demos were enabled by default---thank you!</div></div></div></blockquote><div><br>changes in trunk awaiting release.<br><br>thanks.<br>John<br>

 </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div class="gmail_quote"><div><br></div><font color="#888888"><div>Soo-Hyun Yoo</div>

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