[ros-users] [Orocos-Dev] problems running recent KDL versions with ROS

Marcus Liebhardt stuff at murcsack.de
Fri Feb 11 09:26:57 UTC 2011

Hi Wim!

We tried that already, but ran into problems exactly with the API
compatibility. For example, the interface of one solver changed in the way,
that it now returns a double instead of an int.
So, we expect similar problems in other parts of the ROS code.
But the suggestion of Ruben seems promising, especially because that package
has a different name. So, hopefully my code gets forced to take the new
stuff in orocos_kdl, instead of using old things from the kdl package.
We will try that out and will report about the results.

Thanks for your help!

:-) Marcus

2011/2/10 Wim Meeussen <meeussen at willowgarage.com>

> Marcus,
> > we are having problems running recent versions of KDL with ROS.
> > Because KDL is locked under ROS, we had to come up with other ways to
> change
> > or extend existing KDL code.
> [...]
> > We also tried to "overlay" the KDL package with a new version by changing
> > the ROS_PACKAGE_PATH. But this does not work for prebuild ROS parts. And
> if
> > we would build ROS from source, we probably will run into problems with
> > parts relying on old versions of KDL.
> You should be able to overlay on any set of ROS packages, even if you
> use precompiled Debian packages. Just make sure that your own version
> of KDL comes first in your ROS_PACKAGE_PATH.
> If you overlay on the Debian packages, you need to make sure that the
> version of KDL you overlay is binary compatible with the version of
> compatibility <http://www.dict.cc/englisch-deutsch/compatibility.html>
> KDL in ROS.  I think it's likely that this option won't work.
> If you compile ROS from source, your version of KDL only needs to be
> API compatible for the part of the KDL API that is used by other ROS
> packages.  If you're not modifying any core KDL classes, then this
> option will work fine for you.  As Ruben mentioned, you probably want
> to overlay with the KDL package available from their git repo.
> Wim
> --
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
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