naveenoid / kumonoito Goto Github PK

The current master branch fails to compile with the following error:

[ 18%] Linking CXX shared library /home/jrivero/code/TRI/ws/devel/.private/kumonoito/lib/libjaco_common.so
/usr/bin/cmake -E cmake_link_script CMakeFiles/jaco_common.dir/link.txt --verbose=1
/usr/bin/c++  -fPIC   -shared -Wl,-soname,libjaco_common.so -o /home/jrivero/code/TRI/ws/devel/.private/kumonoito/lib/libjaco_common.so CMakeFiles/jaco_common.dir/src/jaco_common.cc.o /tmp/drake/lib/libdrake.so /tmp/drake/lib/libBulletCollision.so /tmp/drake/lib/libLinearMath.so /tmp/drake/lib/libfcl.so /tmp/drake/lib/libccd.so -loctomap::octomap /tmp/drake/lib/libignition_rndf.so /tmp/drake/lib/liblcm.so -lglib-2.0 -lpthread /tmp/drake/lib/libprotobuf.so /tmp/drake/lib/libyaml_cpp.so /tmp/drake/lib/libfmt.so /tmp/drake/lib/libscsdir.so /tmp/drake/lib/libsdformat.so /tmp/drake/lib/libignition_math.so -ltinyxml /tmp/drake/lib/libtinyobjloader.so -ltinyxml2 -Wl,-rpath,/tmp/drake/lib 
/usr/bin/ld: cannot find -loctomap::octomap
collect2: error: ld returned 1 exit status

The problem comes from the fcl cmake module generated by Drake which list in the INTERFACE_LINK_LIBRARIES. For some reason the library target name "octomap::octomap" is not being resolved and is passed to the linker as it.

Since libfcl (the consumer of octomap) does link statically against ccd and octomap, there is not need to supply them in the cmake module. A dirty patch to solve the issue:

--- /opt/drake/lib/cmake/fcl/fcl-config.cmake	2017-11-29 07:43:37.000000000 +0100
+++ /tmp/drake/lib/cmake/fcl/fcl-config.cmake	2017-11-29 19:37:43.848797013 +0100
@@ -93,7 +93,6 @@
 set_target_properties(fcl::fcl PROPERTIES
   IMPORTED_LOCATION "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/lib/libfcl.so"
   INTERFACE_INCLUDE_DIRECTORIES "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "ccd::ccd;Eigen3::Eigen;octomap::octomap"
 )
 
 set(fcl_LIBRARIES "fcl::fcl")

I think that fixing the real problem does not worth the effort since these modules are going to be removed by RobotLocomotion/drake#7417. I've confirmed that building drake using the branch in the PR makes this package to successfully compile.

For a stable master version from which devs can start working off on their branches, the following set of features are targeted :

• Generic ROS message pub/sub systems : The systems have abstract input / output ports respectively and can be used to pub/sub templated ROS messages in the specified nodes.
• Generic TF publisher : An equivalent of the drake visualizer - publishes a "flat" tf with each RigidBody's pose.
• Passive robot demo : shows 1 / 2 Kinova robot arms that fall passively and the simulation can be visualized in both RVIZ and DrakeVisualizer.
• Controlled robot monolithic demo : shows 1 / 2 Kinova robot arms mounted on the robot-table that are position controlled.
• Controlled robot demo : shows 1 / 2 Kinova robot arms that are listening to control messages coming from a seperate process that commands positions. The simulation can be visualized in both RVIZ and DrakeVisualizer and the RobotState can be plotted out in Rqtplot etc.

Just a question: is the current master branch the reference branch for testing the example? In that case, how is the demo supposed to be executed?

Thanks.