It turns out, per this link:

http://www.ros.org/wiki/tinyxml

that tinyxml used to be the name of a ros package, but now programs should just use the tinyxml system libraries. In order to do that, several changes must be made to the control_toolbox package:

• includes of <tinyxml tinyxml.h=""> or "tinyxml/tinyxml.h" need to be replaced with <tinyxml.h>
• the dependence on the tinyxml package needs to be removed from manifest.xml
• you need to tell the cmake chain that it should link against tinyxml, by adding this to your CMakeLists.txt: target_link_libraries(${PROJECT_NAME} tinyxml)

Here is a complete diff file, which will fix these problems, and cause control_toolbox to build on fuerte. If you put this in a file called patch.diff, you can apply this in the control_toolbox folder by doing this:

patch -p0 -i patch.diff

Index: include/control_toolbox/sinusoid.h

--- include/control_toolbox/sinusoid.h (revision 54851) +++ include/control_toolbox/sinusoid.h (working copy) @@ -38,7 +38,7 @@ #define SINUSOID_H_

#include <iostream> -#include <tinyxml tinyxml.h=""> +#include <tinyxml.h>

namespace control_toolbox {

Index: manifest.xml

--- manifest.xml (revision 54851) +++ manifest.xml (working copy) @@ -6,7 +6,7 @@ <license>BSD</license> <review status="Doc reviewed" notes="http://www.ros.org/wiki/control_toolbox/Reviews/2010-01-12_Doc_Review"/> <url>http://ros.org/wiki/control_toolbox</url> - <depend package="tinyxml"/> + <depend package="rosconsole"/> <depend package="tf"/> <depend package="roscpp"/>

Index: src/pid.cpp

--- src/pid.cpp (revision 54851) +++ src/pid.cpp (working copy) @@ -35,7 +35,7 @@ // Original version: Melonee Wise mwise@willowgarage.com

#include "control_toolbox/pid.h" -#include "tinyxml/tinyxml.h" +#include <tinyxml.h>

namespace control_toolbox {

Index: CMakeLists.txt

--- CMakeLists.txt (revision 54851) +++ CMakeLists.txt (working copy) @@ -11,5 +11,6 @@ src/dither.cpp src/sinusoid.cpp

)

+target_link_libraries(${PROJECT_NAME} tinyxml) + # rosbuild_add_executable(test_linear test/linear.cpp)