Hi John,<div><br></div><div>We used ODE in our non-ROS code by having the following in our Makefile: &quot;<font class="Apple-style-span" 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 class="Apple-style-span" face="&#39;courier new&#39;, monospace">/path/to/opende/opende/include/drawstuff</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">. Is this what you meant by &quot;</font><span class="Apple-style-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 class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; ">?</span></div>

</div><div><br></div><div><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;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>I flipped that flag to --enable-demos as you described and saw that <font class="Apple-style-span" face="&#39;courier new&#39;, monospace"><a href="http://libdrawstuff.la">libdrawstuff.la</a></font> was built in <font class="Apple-style-span" face="&#39;courier new&#39;, monospace">build/opende_1730_patched_with_damping/drawstuff/src/</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">. However, even after a full recompilation of opende, Make complains: &quot;</font><font class="Apple-style-span" face="&#39;courier new&#39;, monospace">/usr/bin/ld: cannot find -ldrawstuff</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">&quot;. I have attached the output log.</font></div>

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

<div><font class="Apple-style-span" face="arial, helvetica, sans-serif"><br></font></div><blockquote class="webkit-indent-blockquote" style="margin-top: 0px; margin-right: 0px; margin-bottom: 0px; margin-left: 40px; border-top-style: none; border-right-style: none; border-bottom-style: none; border-left-style: none; border-width: initial; border-color: initial; padding-top: 0px; padding-right: 0px; padding-bottom: 0px; padding-left: 0px; ">

<div><span class="Apple-style-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 class="Apple-style-span" 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 class="Apple-style-span" face="&#39;courier new&#39;, monospace">-ldrawstuff</font> be in there somewhere?</div></div><div><br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;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>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><br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;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>It would indeed be nice if double precision and the demos were enabled by default---thank you!</div><div><br></div><div>Soo-Hyun Yoo</div></div>
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