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<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">Dar ROS
users,</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">I would
like to know if somebody could have a hint for our problem. This
question is for system design in python.</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">We
require of a ROS package holding a library for our system that has
relevant python wrappers (<a href="http://code.google.com/p/pyopencv/">pyopencv</a>)
used in our system.</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">So far,
we have encapsulated all required libraries (*.so) and python files
(*.py) into a node structure which can be used by pointing it to the
LD_LIBRARY_PATH. However, if we want to run our system as a ROS node,
we also require to update this system variable.</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">The
'<b>manifest.xml</b>' file for our ROS library (pyopencv) is:</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><font face="Courier 10 Pitch"><font size="2"><package>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><description
brief="pyopencv">
pyopencv
</description>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><author>Renato
Samperio</author>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><license>BSD</license>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> <font face="Courier 10 Pitch"><font size="2"><review
status="unreviewed" notes=""/>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><url>http://ros.org/wiki/pyopencv</url>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> <font face="Courier 10 Pitch"><font size="2"><depend
package="rospy"/>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> <font face="Courier 10 Pitch"><font size="2"><depend
package="sensor_msgs"/>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><export>
</font></font></p>
<p class="western" style="margin-bottom: 0cm; font-style: normal;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"><b><cpp
lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib
-lpyopencv_extras -lboost_python -lcvaux -lcv_h_ext -lcv_hpp_ext
-lcxcore_h_ext -lcxcore_hpp_ext -lcxcore_hpp_point_ext
-lcxcore_hpp_vec_ext -lcxtypes_h_ext -lhighgui_ext -lcvaux -lcv
-lcxcore -lhighgui -lml -lml_ext -lsdopencv_ext" />
</b></font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
<font face="Courier 10 Pitch"><font size="2"></export>
</font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><font face="Courier 10 Pitch"><font size="2"></package></font></font></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">We made
our node following rules from <a href="http://www.ros.org/wiki/PyStyleGuide">PyStyleGuide</a>.
Our file system structure is:</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> pyopencv</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> |-
CMakeLists.txt
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> |-
manifest.xml
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> |-
mainpage.dox</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"> |-
src/</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
|- pyopencv/
<i><b>$B"+(B Pointed to LD_LIBRARY_PATH</b></i></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
|- __init__.py
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">
|- *.so, *.py, *.pyc</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY">I would
really appreciate if somebody has an idea of how we could avoid the <i><b>LD_LIBRARY_PATH</b></i><span style="font-style: normal;"><span style="font-weight: normal;"> </span></span> system variable<span style="font-style: normal;"><span style="font-weight: normal;">.</span></span></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><span style="font-style: normal;"><span style="font-weight: normal;">With
best wishes,</span></span></p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><br>
</p>
<p class="western" style="margin-bottom: 0cm;" align="JUSTIFY"><span style="font-style: normal;"><span style="font-weight: normal;">Renato
Samperio</span></span>
</p>
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