So, the attached patch works for me (no runtime loading errors).

BUT

This is something I have been meaning to ask Jack about, because it has been interfering with my use of OpenCV. When I try to use libdc1394 as a camera module, I get errors from my firewire iSight camera. This is the only firewire camera I currently have access to, so I don't know if it's a general problem. As a consequence, I have had to specifically compile OpenCV *without* libdc1394 support.

So, my question for Jack is, do you know what would cause the following errors (this time from camera1394_node, but the same errors from OpenCV), and can they be easily fixed?:

dyn137-110-111-179:camera1394 rubinet$ rosrun camera1394 camera1394_node

[ INFO] [1294967830.200268000]: Found camera with GUID a27000413c783

[ INFO] [1294967830.200455000]: No guid specified, using first camera found, GUID: a27000413c783

[ INFO] [1294967830.200533000]: camera model: Apple Computer, Inc. iSight

[ INFO] [1294967830.210187000]: [000a27000413c783] opened: 640x480_mono8, 15 fps, 400 Mb/s

libdc1394 warning: packet 421 had unexpected sync (14000a1)

libdc1394 warning: packet 479 had error status 0

[ WARN] [1294967830.723671000]: [000a27000413c783] calibration does not match video mode (publishing uncalibrated data)

libdc1394 warning: packet 479 had error status 0

--Nick

On Thu, Jan 13, 2011 at 3:40 PM, Brian Gerkey <gerkey@willowgarage.com> wrote:

On Thu, Jan 13, 2011 at 1:07 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:
> I could really use some help to fix defect #4659 in camera1394:
>
> https://code.ros.org/trac/ros-pkg/ticket/4659
>
> Briefly, it seems we need to set OS-specific link flags to resolve the
> driver's reference to libdc1394.

I haven't tried it, but if I understand the problem, then something
like this should do it:

if(CMAKE_SYSTEM_NAME MATCHES "Darwin")
target_link_libraries(camera1394_node dc1394 "-framework CoreServices")
else(CMAKE_SYSTEM_NAME MATCHES "Darwin")
target_link_libraries(camera1394_node dc1394)
endif(CMAKE_SYSTEM_NAME MATCHES "Darwin")

brian.

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