adlink-ros / ros1sema

A toolset for interfacing ADLINK SEMA library for ROS roscpp.

ros1sema

SEMA is a Board Management Controller (BMC) software for supporting ADLINK Technology industrial computers.

SEMA websute

This repository is for those who want to use SEMA functions on their ROS application.

Note first

This package only support SEMA 3.6, which has not released official yet. If you are ADLINK's customers who want to use SEMA on your ROS application. Please contact your agent.

Reason: SEMA 3.5 statically link to it's own liblog4cpp.so which is conflict with roscpp. (rosconsole use log4cxx which has the same API with log4cpp but inconsist functions).

If you use this packages within a SEMA 3.5 library, you will get an exception.

Quick start

$> mkdir -p ~/ros_ws/src
$> cd ~/ros_ws/src/
$> git clone  https://github.com/Adlink-ROS/ros1sema -b release
$> cd ~/ros_ws/
$> catkin_make

How to use this repository to link SEMA ?

There's a cmake module for finding sema library: sema_vendor which located at this repository. Please add this package to your ROS package dependency.

You can follow the example sema_gpio to see how to use sema_vendor to link SEMA.

Briefly, there are 4 steps.

Add dependency in your package.xml

add dependency

Link libsema in your CMakeLists.txt

1. search sema_vendor
2. find_package libsema

include libsema headers

include libsema headers

Link semaeapi to your target

link libsema to your target

Search environment SEMA_BSP_PATH

export SEMA_BSP_PATH= "where you put sema library"

Override your target's runpath (this step is optional)

override rpath for your targets