[ros-users] Enabling double precision and finding libraries in ODE

[Soo-Hyun Yoo]

Brian,

I have installed C Turtle and included the lines John gave in the
manifest.xml of package "opende," though they did not seem to have any
effect.

Attached are the build_output.log files for atrias_sim on the first and
second Make invocations.

Do you think using third-party dependencies will be a dead end in the long
run? I will soon try using the system installation of ODE instead of the one
provided by ROS since the system-wide ODE installation currently compiles
with our non-ROS code.

Soo-Hyun Yoo

On Mon, Aug 16, 2010 at 11:29 AM, Brian Gerkey <gerkey at willowgarage.com>wrote:

> On Sun, Aug 15, 2010 at 5:44 PM, Daniel Stonier <d.stonier at gmail.com>
> wrote:
> > On 16 August 2010 09:19, Soo-Hyun Yoo <yoos117 at gmail.com> wrote:
> >> First, how do I customize how ROS packages are built? ODE builds
> >> successfully in single precision, but this will be problematic later
> on. I
> >> tried uncommenting "--enable-double-precision" in the
> "Makefile.ode.tarball"
> >> file in the opende package directory to no effect.
> >
> > I'd love a way to customise them too - bit like gentoo with its USE
> flags.
> > Not really possible at the moment though. Not sure if they have plans in
> > that direction either. Anyway, its not a really big problem. I usually
> > simply fork a package, sometimes even share resources (cmake files)
> betwen
> > the packages so I'm not creating redundancies. We did this with opencv at
> > our company to create an embedded version of opencv without all the gui
> > components.
>
> This is not an area where we've focused much effort, because we'd
> prefer to get out of the business of downloading, unpacking, and
> building other people's code.  Standard package managers (apt-get,
> yum, port, emerge, etc.) do that much better than we ever will.  We
> strongly prefer to rely on software that can be installed by an OS
> package manager.  We pull 3rdparty code into the build only as a last
> resort, often because the version available from the package manager
> is too old (but "too old" is always up for debate, and I always argue
> the side of using the older version, even if it's worse, because we
> don't take on a maintenance burden).
>
> >> Third, I should mention that I am new to CMake and suspect that my
> >> CMakeLists.txt is incorrect. I get make errors the first time I build
> >> atrias_sim but they disappear on the second build. This makes me suspect
> >> that I am incorrectly specifying the libraries for the atrias_sim
> >> executable. Could someone more experienced with CMake please verify
> this?
> >
> > You are building a library and an executable. CMake and RoS are probably
> > using parallel jobs in which case it tries to build the library and the
> > exeuctable at the same time. However on the first run, the library will
> take
> > longer and so when the executable tries to link, it can't find the
> library.
> > Note that you won't be seeing this problem if your ROS_PARALLEL_JOBS is
> set
> > to 1.
> > To fix it, simply add the following line to your cmake and it will make
> sure
> > it will delay building the executable until after the library has been
> > built.
> > add_dependencies(robot_sim ${PROJECT_NAME})
>
> Hmm, that shouldn't fix anything.  In the following lines from the
> CMakeLists.txt, the call to target_link_libraries() causes the
> executable to depend on the library:
>
>  rosbuild_add_library(${PROJECT_NAME} ${SIM_LIB})
>  rosbuild_add_executable(robot_sim src/robot_sim.cpp)
>  target_link_libraries(robot_sim ${PROJECT_NAME})
>
> There shouldn't be any missing dependencies. Can you post the build
> errors that you see on the first 'make' invocation?
>
>        brian.
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