[ros-users] orocos_kdl failure on OSX

[Kevin Walchko]

I am working on it right now …

My problem is python_orocos_kdl is looking for eigen and I can't load it from macports due to a checksum miss match. Googling around, it appears that author likes to do stealth updates and I can't seem to figure out how to force macports to install eigen. Did you have this problem?

On Sep 3, 2011, at 1:45 PM, Nicholas Butko wrote:

> Kevin, can you build python_orocos_kdl? I fixed the cmake problems with orocos_kdl, similar to you, but I get a ton of undefined symbol link errors for the python version, which prevents many stacks from building. It is a huge point of failure for me right now.
> 
> 
> 
> On Sep 3, 2011, at 10:22 AM, Kevin Walchko <kevin.walchko at gmail.com> wrote:
> 
>> Hi,
>> 
>> [setup]
>> 
>> ROS Electric
>> OSX Lion with Macports
>> 
>> [Problem]
>> 
>> Eigen3.cmake couldn't find eigen3
>> 
>> [Solution]
>> 
>> Instead of using the included cmake files in orocos_kdl/config/Eigen3.cmake I changed CMakeLists.txt to use pkg-config which macports automatically sets up for OSX. Don't know if Linux does this too.
>> 
>> CMakeLists.txt:
>> include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
>> pkg_check_modules(EIGEN3 REQUIRED eigen3)
>> include_directories(${EIGEN3_INCLUDE_DIRS})
>> #INCLUDE(${PROJ_SOURCE_DIR}/config/FindEigen3.cmake)
>> #INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
>> 
>> 
>> Not sure why the pkg-config wasn't used in the first place, it seems to work nice.
>> 
>> The included Eigen3.cmake appears to be too limited in where it looks, at least for OSX. Could add /opt/local/include/eigen3 but didn't try.
>> 
>> config/Eigen3.cmake:
>> FIND_PATH(EIGEN3_INCLUDE_DIR Eigen/Core /usr/include /usr/include/eigen3)
>> 
>> Thanks.
>> 
>> Kevin
>> 
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