Awesome, robot_sim built successfully. Here are the steps taken, for reference: *opende/manifest.xml:* -ldrawstuff added to lflags *opende/Makefile.ode.tarball:* --disable-demos switched to --enable-demos --enable-double-precision uncommented *opende/build/opende_1730_patched_with_damping/drawstuff/src/.libs/libdrawstuff.a *copied to *opende/opende/lib/* * * *opende/build/opende_1730_patched_with_damping/include/drawstuff *copied to *opende/opende/include/* Final CMakeLists.txt for atrias_sim attached. Thanks again, everyone, for your help! Soo-Hyun Yoo On Mon, Aug 16, 2010 at 4:52 PM, John Hsu wrote: > Hi Soo-Hyun, > > > On Mon, Aug 16, 2010 at 4:32 PM, Soo-Hyun Yoo wrote: > >> Hi John, >> >> We used ODE in our non-ROS code by having the following in our Makefile: "-I >> ${ODE_PATH}include/ -l ode -L ${ODE_PATH}drawstuff/src/.libs/ -l drawstuff >> ". >> >> It may or may not be helpful for you to know that robot_sim.h has >> "#include " explicitly stated. Is this correct usage? >> To remove Make's complaint that it could not find the header file, I copied >> drawstuff.h and version.h to /path/to/opende/opende/include/drawstuff. Is >> this what you meant by "installing them into the ros install directories >> (opende/opende/*)" ? >> > > yes, installing includes under opende/opende/include/drawstuff and > libdrawstuff.* under opende/opende/lib > > >> >> Sorry, I missed one more flag, *--disable-demos *should be replaced by * >>> --enable-demos* in order for drawstuff library to be built. It seems >>> the two error logs you've sent are both failing at finding the drawstuff >>> library, the above change should fix it (but again, you'll have to trigger a >>> re-configure in opende by make clean or equivalent). >>> >> >> I flipped that flag to --enable-demos as you described and saw that >> libdrawstuff.la was built in >> build/opende_1730_patched_with_damping/drawstuff/src/. However, even >> after a full recompilation of opende, Make complains: "/usr/bin/ld: >> cannot find -ldrawstuff". I have attached the output log. >> >> Also, the output of /path/to/opende/opende/bin/ode-config is the >> following: >> >> -I/home/yoos/devel/ros/stacks/physics_ode/opende/opende/include -DdDOUBLE >> -Wl,-rpath,/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib >> -L/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib -lode >> >> >> Shouldn't -ldrawstuff be in there somewhere? >> > > you'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've made > the modifications to the opende manifest.xml as I suggested in the earlier > email. > > >> >> 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's not officially >>> exported into the ODE installation directories. If it'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. >>> >> >> 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. >> > > great! I'll wait to add these changes. > > >> >> As Brian mentioned, there'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'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. >> >> >> It would indeed be nice if double precision and the demos were enabled by >> default---thank you! >> > > changes in trunk awaiting release. > > thanks. > John > > >> >> Soo-Hyun Yoo >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >