Linking external libraries to ROS

asked 2012-02-25 06:58:36 -0600

flag of United Kingdom of Great Britain and Northern Ireland

103 ●9 ●11 ●15

updated 2012-02-25 07:57:21 -0600

Hi all, I know this is something every c++ programmer has to know, but i'm java programmer and just started learning C++ and ROS. If I have compiling flags like the following to compile a C++ program (not in ROS), how do I integrate this to a ROS program and modify my manifest or CMakeFiles?

-l Festival -I/usr/include/festival -I/usr/lib/speech_tools/include -leststring -lestools -lestbase

EDIT: and are there any other settings that I have to do? like, setting dependencies for example (if that even makes sense)?

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answered 2012-02-25 07:10:27 -0600

ravenII
63 ●3 ●3 ●9

updated 2012-02-25 07:12:30 -0600

Not sure if it is the best way I did this with the following in CMakeLists.txt

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/usr/include/festival -I/usr/lib/speech_tools/include")

For linking target libraries

target_link_libraries(example rt
python2.6
other_libraries)

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I see you put in the -I (includes) flags, but where do we put the -L (libraries) ?? I don't understand your second section of code. Could you please, explain? thanks @ravenll, really..

Haikal Pribadi ( 2012-02-25 07:28:43 -0600 )edit

3

I think this page explains the procedure. http://www.ros.org/wiki/rosbuild/CMakeLists/Examples#Linking_against_an_external_library

ravenII ( 2012-02-25 08:06:21 -0600 )edit

Uh, I did not see this link before. This keeps on happening to me. Where do they put all these intermediate tutorial links? or do you have to know the specific link to the secret page :) ? Thanks btw, ravenll..

Haikal Pribadi ( 2012-02-25 08:18:59 -0600 )edit

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answered 2015-02-24 02:01:02 -0600

Myzhar

531 ●49 ●63 ●78 https://www.myzhar.com/

I add the same problem and I solved like this:

FIND_LIBRARY(EXT_LIBRARY extName library_full_path)

target_link_libraries(
  my_node
  ${catkin_LIBRARIES} ${EXT_LIBRARY }
)

In my case I needed to add the library for a DepthSense camera:

FIND_LIBRARY(DEPTHSENSE_LIBRARY DepthSense /opt/softkinetic/DepthSenseSDK/lib/)

target_link_libraries(
  depthsense_camera_node
  ${catkin_LIBRARIES} ${DEPTHSENSE_LIBRARY}
)

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(a bit off topic) Not sure about its current status, but you might be interested in the softkinetic package.

gvdhoorn ( 2015-02-24 02:23:29 -0600 )edit

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