[Ros-release] Debbuild can't find orocos-kdl

Marcus Liebhardt marcus.liebhardt at yujinrobot.com
Wed Jul 10 09:39:14 UTC 2013

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
  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:


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
/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 :

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

Thanks for reading,

Marcus Liebhardt
Control Engineer
Yujin Robot
주소: 대한민국 서울시 금천구 가산동 345-30 남성프라자 #601, 153-023.
Address: Door #601, Namsung-Plaza, 345-30 Gasan-dong, Guemcheon-gu, Seoul,
153-023, Republic of Korea
Website: http://www.yujinrobot.com
Email: marcus.liebhardt at yujinrobot.com
Phone: +82-70-46577073
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