how to replace rosbuild_link_boost() with the catkin macro

asked 2018-05-09 22:29:24 -0600

frodyteen
62 ●15 ●19 ●24

updated 2018-05-10 01:35:09 -0600

I am trying to convert a rosbuild package(DSP-3000 package source) to catkin package.

Currently on section 1.3 step 5 of this tutorial.

In the old package (rosbuild), the DSP-3000/CMakeLists.txt has the following:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()
rosbuild_add_boost_directories()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

include_directories(cereal_port/include)
rosbuild_add_executable(dsp3000 src/dsp3000.cpp)
target_link_libraries(dsp3000 cereal_port)
rosbuild_link_boost(dsp3000 thread)

add_subdirectory(cereal_port)

The tutorial said If rosbuild macros were used, switch from rosbuild macros to the underlying CMake commands. so, I replaced all the rosbuild macros with catkin macros, shown below:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)


find_package()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

include_directories(cereal_port/include)
add_executable(dsp3000 src/dsp3000.cpp)
target_link_libraries(dsp3000 cereal_port)


add_subdirectory(cereal_port)

Now the next step is to Declare how your targets (C++ binaries) shall be installed. In my case, Can anyone tell me what do I need to add in my DSP-3000/CMakeLists.txt to complete this step?

Also, can anyone check if I did the rosbuild to catkin conversion correctly for this file?

Thank you.

answered 2018-05-10 02:43:36 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2018-05-10 15:53:57 -0600

Please refer to catkin documentation: C++ system library dependencies. Then follow through to catkin documentation: Building and installing C++ executables.

On both pages, Boost is used as an example.

Edit: I'm slightly confused. Looking at the master branch of ros-drivers/kvh_drivers it already appears to be a Catkin package (CMakeLists.txt here and package.xml here). It was converted in ros-drivers/kvh_drivers#2.

Do you have any specific reason to want to use the indigo branch? I'm not sure why that is still there, as it seems to have lagged behind master quite a bit.

Edit2: I've opened ros-drivers/kvh_drivers#6 to ask the maintainer(s) what the status of the Indigo branch is.

Edit3:

You are right, I was able to build it successfully, then I ran rosrun kvh dsp3000 and it gave me an error shown in this link

that would seem to be a different issue. Let's not mix them.

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Thank you so much for the help, The robot that I am working on uses ubuntu 14.04 Indigo. Therefore, I am trying to download the Indigo release of kvh_drivers.

Also, The master branch is for kinetic version and I tried to build and run it but it gave me an error.