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I wonder if ROS can be used as a stand-alone library, such as libros.a? Suppose that I have a piece of code "code_depedent_on_ros.c" that depends on ROS, it would be convenient to compile the code as gcc code_depedent_on_ros.c -l ros. Does such a libros.a or libros.so exist?
No, there's no such thing as libros, because ROS is a whole framework of many different libraries and tools. Even a simple C/C++ program that does something basic like publishing a topic will end up have build and runtime dependencies on several different libraries provided by several different ROS packages. That's why the ROS community generally always uses extra tooling (colcon, rosdep, etc) to build and install large collections of packages instead of individual libraries.
Technically there wouldn't really be anything stopping one from creating a libros.so, which would link "all" .sos from "all" packages.
But that wouldn't be very efficient, so is never really done.
@Zhoulai Fu: perhaps you could explain what it is you're trying to achieve. That may help us give you better answers and/or suggest some alternative.
Asked: 2021-02-03 04:46:14 -0600
Seen: 244 times
Last updated: Feb 04 '21
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