Orocos toolchain debian packages Indigo

Hi,

Can you use the debian versions of the orocos_toolchain and orocos_kinematics_dynamics packages in Indigo?
Or do you still have to use the source files?

I tried to compile my package which uses KDL from Orocos_KDL using debian packages.
But I get an error stating

Undefined reference to 'KDL::JntArray::resize(unsigned int)'

Whether or not the debian packages are installed or not makes no difference.
So clearly it can't find them. They are however included in the package.xml file...

I had gotten it to work with Orocos packages from source.

Cheers,

Jon

Ruben Smits's picture

Orocos toolchain debian packages Indigo

You can perfectly use the debians, but you need to make sure you also add
something along the lines of:

find_package(orocos_kdl REQUIRED)
include_directories(${orocos_kdl_INCLUDE_DIRS})
...
target_link_libraries(im_localiser ${orocos_kdl_LIBRARIES})

to your CMakeLists.txt to make sure you are linking with KDL.

R.

On Fri, Sep 18, 2015 at 12:39 PM Jon Verbeke <jon [dot] verbeke [..] ...>
wrote:

> Hi,
>
>
>
> Can you use the debian versions of the orocos_toolchain and
> orocos_kinematics_dynamics packages in Indigo?
>
> Or do you still have to use the source files?
>
>
>
> I tried to compile my package which uses KDL from Orocos_KDL using debian
> packages.
>
> But I get an error stating
>
>
>
> Undefined reference to ‘KDL::JntArray::resize(unsigned int)’
>
>
>
> Whether or not the debian packages are installed or not makes no
> difference.
>
> So clearly it can’t find them. They are however included in the
> package.xml file…
>
>
>
> I had gotten it to work with Orocos packages from source.
>
>
>
> Cheers,
>
>
>
> Jon
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

Orocos toolchain debian packages Indigo

Hi Ruben,

it works, but further on I have another problem with finding a header.

I'm catkinizing iTaSC which is currently rosbuild, but I can't find a header during compilation.

I have the following catkin workspace structure:

itasc_core
CMakeLists.txt
package.xml
scripts
src
VirtualKinematicChain.hpp
...

itasc_tasks
cartesian_motion
CMakeLists.txt
package.xml
scripts
src
VKC_Cartesian.hpp

The problem is that in the VKC_Cartesian.hpp at the beginning we include

#include "itasc_core/VirtualKinematicChain.hpp"

Due to the new catkin structure I changed it to:

#include "itasc_core/src/VirtualKinematicChain.hpp"

But during compilation it (in both cases) states it can't find it:

[ 92%] Building CXX object itasc_tasks/cartesian_motion/CMakeFiles/VKC_Cartesian.dir/src/VKC_Cartesian.cpp.o
In file included from /home/odroid/ws/src/itasc_tasks/cartesian_motion/src/VKC_Cartesian.cpp:41:0:
/home/odroid/ws/src/itasc_tasks/cartesian_motion/src/VKC_Cartesian.hpp:44:52: fatal error: itasc_core/src/VirtualKinematicChain.hpp: No such file or directory
#include "itasc_core/src/VirtualKinematicChain.hpp"

I tried adding extra references to itasc_core in the CMakeLists.txt similar as the orocos_kdl package but to no avail.

The cartesian motion's package.xml contains:

<build_depend>eigen</build_depend>
<build_depend>itasc_core</build_depend>
<build_depend>orocos_kdl</build_depend>
<run_depend>eigen</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>rtt_ros</run_depend>
<run_depend>itasc_core</run_depend>

The cartesian motion's CMakelists.txt contains:

find_package(
catkin REQUIRED COMPONENTS
OROCOS-RTT REQUIRED
orocos_kdl REQUIRED
itasc_core REQUIRED
)

include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
find_package(PkgConfig REQUIRED)
pkg_search_module(EIGEN REQUIRED eigen3)

include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS}
${itasc_core_INCLUDE_DIRS}
)

link_directories(
${EIGEN_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${itasc_core_LIBRARY_DIRS}
)

catkin_package()

orocos_use_package(rtt-marshalling)
orocos_component(CC_Cartesian src/CC_Cartesian.hpp src/CC_Cartesian.cpp)
orocos_component(VKC_Cartesian src/VKC_Cartesian.hpp src/VKC_Cartesian.cpp)

target_link_libraries(
CC_Cartesian ${orocos_kdl_LIBRARIES}
VKC_Cartesian ${orocos_kdl_LIBRARIES}
CC_Cartesian ${itasc_core_LIBRARIES}
VKC_Cartesian ${itasc_core_LIBRARIES}
)

Any ideas?

Cheers,

Jon

Orocos toolchain debian packages Indigo

On 10/01/2015 03:35 PM, Jon Verbeke wrote:
> Hi Ruben,
>
> it works, but further on I have another problem with finding a header.
>
> I'm catkinizing iTaSC which is currently rosbuild, but I can't find a header during compilation.
>
> I have the following catkin workspace structure:
>
> itasc_core
> CMakeLists.txt
> package.xml
> scripts
> src
> VirtualKinematicChain.hpp
> ...
>
> itasc_tasks
> cartesian_motion
> CMakeLists.txt
> package.xml
> scripts
> src
> VKC_Cartesian.hpp
>
> The problem is that in the VKC_Cartesian.hpp at the beginning we include
>
> #include "itasc_core/VirtualKinematicChain.hpp"
>
> Due to the new catkin structure I changed it to:
>
> #include "itasc_core/src/VirtualKinematicChain.hpp"
Probably this is a wrong location.
The include statement starts from the include path, not your package
path, in the old rosbuild version, the headers are installed under
following path:
path-to-itasc_core/install/include/orocos/itasc_core/VirtualKinematicChain.hpp
of which your include statement is only the last two parts.
Hence the itasc_core part of the include does not point directly to the
package directory, but a sub-directory with the same name.
Hence you have to look where your header is installed in the catkin layout.
>
> But during compilation it (in both cases) states it can't find it:
>
> [ 92%] Building CXX object itasc_tasks/cartesian_motion/CMakeFiles/VKC_Cartesian.dir/src/VKC_Cartesian.cpp.o
> In file included from /home/odroid/ws/src/itasc_tasks/cartesian_motion/src/VKC_Cartesian.cpp:41:0:
> /home/odroid/ws/src/itasc_tasks/cartesian_motion/src/VKC_Cartesian.hpp:44:52: fatal error: itasc_core/src/VirtualKinematicChain.hpp: No such file or directory
> #include "itasc_core/src/VirtualKinematicChain.hpp"
>
> I tried adding extra references to itasc_core in the CMakeLists.txt similar as the orocos_kdl package but to no avail.
>
> The cartesian motion's package.xml contains:
>
> <build_depend>eigen</build_depend>
> <build_depend>itasc_core</build_depend>
> <build_depend>orocos_kdl</build_depend>
> <run_depend>eigen</run_depend>
> <run_depend>orocos_kdl</run_depend>
> <run_depend>rtt_ros</run_depend>
> <run_depend>itasc_core</run_depend>
>
> The cartesian motion's CMakelists.txt contains:
>
> find_package(
> catkin REQUIRED COMPONENTS
> OROCOS-RTT REQUIRED
> orocos_kdl REQUIRED
> itasc_core REQUIRED
> )
>
> include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
> find_package(PkgConfig REQUIRED)
> pkg_search_module(EIGEN REQUIRED eigen3)
>
> include_directories(
> ${catkin_INCLUDE_DIRS}
> ${EIGEN_INCLUDE_DIRS}
> ${orocos_kdl_INCLUDE_DIRS}
> ${itasc_core_INCLUDE_DIRS}
> )
>
> link_directories(
> ${EIGEN_LIBRARY_DIRS}
> ${orocos_kdl_LIBRARY_DIRS}
> ${itasc_core_LIBRARY_DIRS}
> )
>
> catkin_package()
>
> orocos_use_package(rtt-marshalling)
> orocos_component(CC_Cartesian src/CC_Cartesian.hpp src/CC_Cartesian.cpp)
> orocos_component(VKC_Cartesian src/VKC_Cartesian.hpp src/VKC_Cartesian.cpp)
>
> target_link_libraries(
> CC_Cartesian ${orocos_kdl_LIBRARIES}
> VKC_Cartesian ${orocos_kdl_LIBRARIES}
> CC_Cartesian ${itasc_core_LIBRARIES}
> VKC_Cartesian ${itasc_core_LIBRARIES}
> )
>
> Any ideas?
>
> Cheers,
>
> Jon

Orocos toolchain debian packages Indigo

Thanks,

I’ll try it next week.

Cheers,

Jon

Van: Ruben Smits [mailto:ruben [dot] smits [..] ...]
Verzonden: woensdag 23 september 2015 10:06
Aan: Jon Verbeke; orocos-users [..] ...
Onderwerp: Re: [Orocos-users] Orocos toolchain debian packages Indigo

You can perfectly use the debians, but you need to make sure you also add something along the lines of:

find_package(orocos_kdl REQUIRED)
include_directories(${orocos_kdl_INCLUDE_DIRS})
...
target_link_libraries(im_localiser ${orocos_kdl_LIBRARIES})

to your CMakeLists.txt to make sure you are linking with KDL.

R.

On Fri, Sep 18, 2015 at 12:39 PM Jon Verbeke <jon [dot] verbeke [..] ...<mailto:jon [dot] verbeke [..] ...>> wrote:
Hi,

Can you use the debian versions of the orocos_toolchain and orocos_kinematics_dynamics packages in Indigo?
Or do you still have to use the source files?

I tried to compile my package which uses KDL from Orocos_KDL using debian packages.
But I get an error stating

Undefined reference to ‘KDL::JntArray::resize(unsigned int)’

Whether or not the debian packages are installed or not makes no difference.
So clearly it can’t find them. They are however included in the package.xml file…

I had gotten it to work with Orocos packages from source.

Cheers,

Jon
--
Orocos-Users mailing list
Orocos-Users [..] ...<mailto:Orocos-Users [..] ...>
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
--
Ruben Smits, Roboticist - Founder
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu<http://www.intermodalics.eu>
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