[ros-users] Merging Player with ROS

[Aslund]

Hey

Yesterday I figured out how to use target_link_libraries to add libraries,
but only one library at the time. A great thanks to Brian's CMake style
approach, just what I seeked, also thanks to Rich for the links, nice with
additional information of the use of CMake.

Regards

Sebastian

On 15 February 2011 05:11, Rich Mattes <jpgr87 at gmail.com> wrote:

> 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
>
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