[ros-users] Merging Player with ROS

[Rich Mattes]

On 02/14/2011 09:01 PM, Brian Gerkey wrote:
> On Sun, Feb 13, 2011 at 11:46 AM, Aslund<sebastian.aslund at gmail.com>  wrote:
>> While an option is to use the ROS Player driver, then I want to avoid it. I
>> have already Player installed on my robot and had quite some problems with
>> it, which is now solved, but it scared me from doing any changes to it, so I
>> want to maintain the robot as it is.
>> My idea is to have a second computer to process the algorithms, which
>> communicates through Player on a local network to my robot.
>> I used the Publisher example from the tutorial to create a base to work
>> with, if I add the following lines to my CMakeLists.txt:
>>
>> include_directories(/usr/local/include/player-3.1)
>> link_directories(/usr/local/lib)
>>
>> then I am able to compile the example including the header file of Player (
>> #include "libplayerc++/playerc++.h" ), but when I add Player functions, then
>> rosmake returns that there are undefined references, which could indicate
>> that I need a way of adding the library files into my CMakeLists.txt list.
>> My problem is that I do not know how to add  .so-library files into
>> CMakeLists.txt inorder to make the compiler able to use Player functions, I
>> hope someone can help me resolving this problem.
> I would use pkg-config to get the build flags for Player.  Assuming
> that you're trying to build a client program against libplayerc++, do
> something like:
>
> include(FindPkgConfig)
> pkg_check_modules(PLAYERCPP REQUIRED playerc++)
> include_directories(${PLAYERCPP_INCLUDE_DIRS})
> link_directories(${PLAYERCPP_LIBRARY_DIRS})
> # Assuming that you're building an executable named foo
> target_link_libraries(foo ${PLAYERCPP_LIBRARIES})
>
> Note that you may have to add /usr/local/lib/pkgconfig to your PKG_CONFIG_PATH.
>
> 	brian.
>

If you're using cmake, you may also find the following helpful:

http://playerstage.sourceforge.net/wiki/Player_and_CMake
http://playerstage.sourceforge.net/wiki/Compiling_Player_3_clients_and_plugins

Rich