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

[Austin Hendrix]

I'm having the same problem with one of the PR2 packages that depends
on orocos_kdl; my take is that the CMake find_package infrastructure
and/or the pkgconfig files for orocos_kdl are broken.

I consider this a bug: http://bugs.orocos.org/show_bug.cgi?id=1035

-Austin

On Wed, Jul 10, 2013 at 5:04 AM, Ruben Smits
<ruben.smits at intermodalics.eu> wrote:
> Hi Marcus,
>
>
> On Wed, Jul 10, 2013 at 12:59 PM, Marcus Liebhardt
> <marcus.liebhardt at yujinrobot.com> wrote:
>>
>>
>> On Wed, Jul 10, 2013 at 6:39 PM, Marcus Liebhardt
>> <marcus.liebhardt at yujinrobot.com> wrote:
>>>
>>> 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!
>>
>>
>> Joder! I think, I have found the missing piece - it's called
>> "link_directories()". I shouldn't have looked only at that pull request, but
>> at the newest version of the mentioned CMakeLists example.
>>
>> I'm still a bit confused though. I can't remember needing this
>> "link_directories" addition so far. Furthermore, the ROS wiki even
>> recommends not to use it, since target_link_libraries() should suffice for
>> catkin and plain cmake packages - which is the case here
>> (http://ros.org/wiki/catkin/CMakeLists.txt#Include_Paths_and_Library_Paths).
>>
>> Could someone shed some light on this please?
>>
>
> AFAIK:
>
> In most cases find_package(package_name) will fill ${package_name_LIBRARIES)
> with the full path of the libraries in which case you do not need the
> link_directories statement. Although in some cases this might not be true,
> and ${packag_name_LIBRARIES} only contains the libnames without any path
> which seems to be the case with orocos-kdl:
>
> taken from the orocos_kdl-config.cmake:
>
> message("   Includes in: ${orocos_kdl_INCLUDE_DIRS}")
> message(    "Compiler flags: ${orocos_kdl_CFLAGS}")
> message("   Libraries: ${orocos_kdl_LIBRARIES}")
> message("   Libraries in: ${orocos_kdl_LIBRARY_DIRS}")
> message("   Linker flags : ${orocos_kdl_LD_FLAGS}")
> message("   Defines: ${orocos_kdl_DEFINES}")
>
> This is the result of the use of pkgconfig in the orocos_kdl-config.cmake
> to fill in these flags. If this is considered as a bug by someone please
> file a bug report on bugs.orocos.org to have it resolved ;)
>
>>
>> Thanks again and sorry for the spam,
>> Marcus
>>
>
> Ruben
>
>
>>
>>
>>>
>>>
>>> Thanks for reading,
>>> Marcus
>>>
>>>
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
>
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