Hi John,<div><br></div><div>We used ODE in our non-ROS code by having the following in our Makefile: "<font class="Apple-style-span" face="'courier new', monospace">-I ${ODE_PATH}include/ -l ode -L ${ODE_PATH}drawstuff/src/.libs/ -l drawstuff</font>".</div>
<div><br></div><div><div>It may or may not be helpful for you to know that robot_sim.h has "#include <drawstuff/drawstuff.h>" explicitly stated. Is this correct usage? To remove Make's complaint that it could not find the header file, I copied drawstuff.h and version.h to <font class="Apple-style-span" face="'courier new', monospace">/path/to/opende/opende/include/drawstuff</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">. Is this what you meant by "</font><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; ">installing them into the ros install directories (opende/opende/*)" </span><span class="Apple-style-span" style="font-family: arial, sans-serif; font-size: 13px; border-collapse: collapse; ">?</span></div>
</div><div><br></div><div><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Sorry, I missed one more flag, <b>--disable-demos </b>should be replaced by <b>--enable-demos</b> in order for drawstuff library to be built. It seems the two error logs you've sent are both failing at finding the drawstuff library, the above change should fix it (but again, you'll have to trigger a re-configure in opende by make clean or equivalent).<br>
</blockquote><div><br></div><div>I flipped that flag to --enable-demos as you described and saw that <font class="Apple-style-span" face="'courier new', monospace"><a href="http://libdrawstuff.la">libdrawstuff.la</a></font> was built in <font class="Apple-style-span" face="'courier new', monospace">build/opende_1730_patched_with_damping/drawstuff/src/</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">. However, even after a full recompilation of opende, Make complains: "</font><font class="Apple-style-span" face="'courier new', monospace">/usr/bin/ld: cannot find -ldrawstuff</font><font class="Apple-style-span" face="arial, helvetica, sans-serif">". I have attached the output log.</font></div>
<div><font class="Apple-style-span" face="arial, helvetica, sans-serif"><br></font></div><div><font class="Apple-style-span" face="arial, helvetica, sans-serif">Also, the output of </font><font class="Apple-style-span" face="'courier new', monospace">/path/to/opende/opende/bin/ode-config</font><font class="Apple-style-span" face="arial, helvetica, sans-serif"> is the following:</font></div>
<div><font class="Apple-style-span" face="arial, helvetica, sans-serif"><br></font></div><blockquote class="webkit-indent-blockquote" style="margin-top: 0px; margin-right: 0px; margin-bottom: 0px; margin-left: 40px; border-top-style: none; border-right-style: none; border-bottom-style: none; border-left-style: none; border-width: initial; border-color: initial; padding-top: 0px; padding-right: 0px; padding-bottom: 0px; padding-left: 0px; ">
<div><span class="Apple-style-span" style="font-family: 'courier new', monospace; ">-I/home/yoos/devel/ros/stacks/physics_ode/opende/opende/include -DdDOUBLE</span></div><div><div><font class="Apple-style-span" face="'courier new', monospace">-Wl,-rpath,/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib -L/home/yoos/devel/ros/stacks/physics_ode/opende/opende/lib -lode</font></div>
</div></blockquote><div><div><br></div><div>Shouldn't <font class="Apple-style-span" face="'courier new', monospace">-ldrawstuff</font> be in there somewhere?</div></div><div><br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Also I would like to note that drawstuff is considered to be part of ODE demo and not part of the
dynamics engine library, so it's not officially exported into the ODE
installation directories. If it's extremely useful, we can consider exporting the c++ flags or simply installing them into the ros install directories (opende/opende/*) by default as well. Please ticket me on it.<br>
</blockquote><div><br></div><div><div>I apologize for my lack of insight into our code, but I do not know what drawstuff is actually used for in robot_sim, as I did not write it. I will, however, look into it, and if it seems useful enough, submit a ticket.</div>
</div><div><br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">As Brian mentioned, there's no plans to customize builds for 3rd party packages under ROS for now. Would it be sufficient to make ODE compile with double precision by default? I've been meaning to switch it over as the gains at keeping things float on most modern computers are less significant. As for drawstuff, if its a dependency of atrias_sim, I can enable the demos build by default as well. Please see changes in r31755. If there are no objections, the changes should be included in the next physics_ode release.</blockquote>
<div><br></div><div>It would indeed be nice if double precision and the demos were enabled by default---thank you!</div><div><br></div><div>Soo-Hyun Yoo</div></div>
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