Hi Soo-Hyun,<br><br><br><div class="gmail_quote">On Mon, Aug 16, 2010 at 4:32 PM, Soo-Hyun Yoo <span dir="ltr"><<a href="mailto:yoos117@gmail.com">yoos117@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi John,<div><br></div><div>We used ODE in our non-ROS code by having the following in our Makefile: "<font 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 face="'courier new', monospace">/path/to/opende/opende/include/drawstuff</font><font face="arial, helvetica, sans-serif">. Is this what you meant by "</font><span style="font-family: arial,sans-serif; font-size: 13px; border-collapse: collapse;">installing them into the ros install directories (opende/opende/*)" </span><span style="font-family: arial,sans-serif; font-size: 13px; border-collapse: collapse;">?</span></div>
</div></blockquote><div><br>yes, installing includes under opende/opende/include/drawstuff and libdrawstuff.* under opende/opende/lib<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
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</div><div><br></div><div><div class="gmail_quote"><div class="im"><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); 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><div>I flipped that flag to --enable-demos as you described and saw that <font face="'courier new', monospace"><a href="http://libdrawstuff.la" target="_blank">libdrawstuff.la</a></font> was built in <font face="'courier new', monospace">build/opende_1730_patched_with_damping/drawstuff/src/</font><font face="arial, helvetica, sans-serif">. However, even after a full recompilation of opende, Make complains: "</font><font face="'courier new', monospace">/usr/bin/ld: cannot find -ldrawstuff</font><font face="arial, helvetica, sans-serif">". I have attached the output log.</font></div>
<div><font face="arial, helvetica, sans-serif"><br></font></div><div><font face="arial, helvetica, sans-serif">Also, the output of </font><font face="'courier new', monospace">/path/to/opende/opende/bin/ode-config</font><font face="arial, helvetica, sans-serif"> is the following:</font></div>
<div><font face="arial, helvetica, sans-serif"><br></font></div><blockquote style="margin: 0px 0px 0px 40px; border-style: none; padding: 0px;">
<div><span style="font-family: 'courier new',monospace;">-I/home/yoos/devel/ros/stacks/physics_ode/opende/opende/include -DdDOUBLE</span></div><div><div><font 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 face="'courier new', monospace">-ldrawstuff</font> be in there somewhere?</div></div></div></div></blockquote><div><br>you're right, ode-config needs additional modifications for this to work without the above exporting step. Alternatively, you could use the flags exported by rospack (e.g. rospack cflags-only-I opende, etc.) if you've made the modifications to the opende manifest.xml as I suggested in the earlier email.<br>
<br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div class="gmail_quote"><div class="im"><div><br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); 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><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></div></blockquote><div><br>great! I'll wait to add these changes.<br> <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
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</div><div class="im"><div><br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); 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><div>It would indeed be nice if double precision and the demos were enabled by default---thank you!</div></div></div></blockquote><div><br>changes in trunk awaiting release.<br><br>thanks.<br>John<br>
</div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div class="gmail_quote"><div><br></div><font color="#888888"><div>Soo-Hyun Yoo</div>
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