This tutorial explains (one possibility) to set up a build system for your application using the geometric_relations_semantics. The possibility we explain uses the ROS package and build infrastructure, and will therefore assume you have ROS installed and set up on your computer.

• Create a new ROS package (in this case with name myApplication), with a dependency on the geometric_semantics library and for instance the geometric_semantics_kdl library:

roscreate-pkg myApplication geometric_semantics geometric_semantics_kdl

This will automatically create a directory with name myApplication and a basic build infrastructure (see the roscreate-pkg documentation)

• Add the newly created directory to your ROS_PACKAGE_PATH environment variable:

export ROS_PACKAGE_PATH=myApplication:$ROS_PACKAGE_PATH