Hey guys,

It's me again. Sorry for the high traffic.

I released the openni_tracker and the source build works fine. However, when building the deb, orocos-kdl can't be found.

CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package orocos_kdl.

  Set orocos_kdl_DIR to the directory containing a CMake configuration file
  for orocos_kdl.  The file will have one of the following names:

    orocos_kdlConfig.cmake
    orocos_kdl-config.cmake

Call Stack (most recent call first):
  CMakeLists.txt:3 (find_package)

So, I started looking for the cause of this and found this seemingly related issue involving the geometry stack: https://github.com/ros/geometry/issues/11. The respective fix treats orocos-kdl as a plain Cmake package instead of a catkin package. Unfortunately, when applying this patch to the openni_tracker, my local source build can't find the orocos-kdl library it tries to link to:

Linking CXX executable /opt/sandbox_workspace/devel/lib/openni_tracker/openni_tracker

/usr/bin/ld: cannot find -lorocos-kdl

collect2: ld returned 1 exit status

make[2]: *** [/opt/sandbox_workspace/devel/lib/openni_tracker/openni_tracker] Error 1

Again I started off to find hints for the cause of this. I took a look at orocos_kdl-config.cmake and even the package config file, but nothing seems suspicious to me. However, I must say that I don't have lots of CMake experience. So this is harder for me than Korean. 0o

One thing I noticed though is that the CMake log output about orocos-kdl doesn't show any linker flags:

Looking for KDL in: /opt/ros/hydro

-- checking for one of the modules 'orocos_kdl'

   Includes in: /opt/ros/hydro/include;/usr/include/eigen3

Compiler flags: -I/opt/ros/hydro/include;-I/usr/include/eigen3

   Libraries: orocos-kdl

   Libraries in: /opt/ros/hydro/lib

   Linker flags : 

   Defines: 

I will keep looking further into this. But any hints, tips and help is highly appreciated!

Thanks for reading,

Marcus