Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by b1willaert on Wed, 2012-08-01 13:29

Hi,

I am trying to install orocos for Fuerte following the steps described on (Debian Squeeze): http://www.ros.org/wiki/orocos_toolchain

I am having lucid and the following version of eigen:

teleop@machine:~/rosstacks/rtt_geometry/kdl_typekit (master)$ aptitude show libeigen3-dev
Package: libeigen3-dev
State: installed
Automatically installed: yes
Version: 3.0.1-1+ros4~lucid
Priority: extra
Section: libdevel
Maintainer: Debian Science Maintainers <debian-science-maintainers@lists.alioth.debian.org>
Uncompressed Size: 3,441k
Suggests: libeigen3-doc

Compiling goes fine for 4 of the 5 stacks. Only rtt_geometry fails because of the kdl_typekit pkg. Note also that the orocos_kinematics_dynamics stack compiles fine. The error I get is:

teleop@machine:~/rosstacks/rtt_geometry/kdl_typekit (master)$ make
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
[rosbuild] Building package kdl_typekit
[rosbuild] Including /opt/ros/fuerte/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/fuerte/share/rospy/rosbuild/rospy.cmake
[rosbuild] Including /opt/ros/fuerte/share/roscpp/rosbuild/roscpp.cmake
Orocos-RTT found in /home/teleop/rosstacks/orocos_toolchain/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
-- Found orocos-rtt 2.5.0 for the gnulinux target. Available transports: corba mqueue
This package is in your ROS_PACKAGE_PATH, so I'm using rosbuild-style package building.
[UseOrocos] Building package kdl_typekit
[UseOrocos] Linking all targets with libraries from package 'ocl'.
-- checking for one of the modules 'orocos_kdl;orocos_kdl-gnulinux'
[UseOrocos] Linking all targets with libraries from package 'rtt_geometry_msgs'.
[UseOrocos] Building typekit library kdl_typekit
[UseOrocos] Linking all targets with libraries from package 'ocl-deployment'.
-- Found orocos-rtt 2.5.0 for the gnulinux target. Available transports: corba mqueue
-- - Found requested orocos-rtt components: rtt-marshalling
CMake Warning at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:595 (message):
  GTest not found; C++ tests will fail to build.
Call Stack (most recent call first):
  /opt/ros/fuerte/share/ros/core/rosbuild/private.cmake:124 (rosbuild_add_gtest_build_flags)
  /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:625 (_rosbuild_add_gtest)
  test/CMakeLists.txt:3 (rosbuild_add_gtest)
 
 
[UseOrocos] Generating package version 1.0 (default version).
-- Configuring done
-- Generating done
-- Build files have been written to: /home/teleop/rosstacks/rtt_geometry/kdl_typekit/build
cd build && make 
make[1]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[2]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[3]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[3]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
[  0%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[3]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
[  0%] Built target rosbuild_precompile
make[3]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[3]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[3]: Entering directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
[  6%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
In file included from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp:8,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.hpp:47,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp:40:
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jacobian.hpp:26:22: error: Eigen/Core: No such file or directory
In file included from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp:8,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.hpp:47,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp:40:
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jacobian.hpp:33: error: ‘Eigen’ has not been declared
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jacobian.hpp:33: error: ISO C++ forbids declaration of ‘Matrix’ with no type
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jacobian.hpp:33: error: expected ‘;’ before ‘<’ token
In file included from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp:10,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.hpp:47,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp:40:
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntarray.hpp:72: error: ‘Eigen’ has not been declared
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntarray.hpp:72: error: ISO C++ forbids declaration of ‘VectorXd’ with no type
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntarray.hpp:72: error: expected ‘;’ before ‘data’
In file included from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.hpp:47,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp:40:
/home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp: In function ‘void boost::serialization::serialize(Archive&, KDL::JntArray&, unsigned int)’:
/home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp:382: error: ‘class KDL::JntArray’ has no member named ‘data’
/home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekitTypes.hpp:384: error: ‘class KDL::JntArray’ has no member named ‘data’
In file included from /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/kinfam_io.hpp:34,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kinfamproperties.hpp:49,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.hpp:66,
                 from /home/teleop/rosstacks/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp:40:
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntspaceinertiamatrix.hpp: At global scope:
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntspaceinertiamatrix.hpp:73: error: ‘Eigen’ has not been declared
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntspaceinertiamatrix.hpp:73: error: ISO C++ forbids declaration of ‘MatrixXd’ with no type
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir/include/kdl/jntspaceinertiamatrix.hpp:73: error: expected ‘;’ before ‘data’
make[3]: *** [CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o] Error 1
make[3]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[2]: *** [CMakeFiles/kdl_typekit.dir/all] Error 2
make[2]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/teleop/rosstacks/rtt_geometry/kdl_typekit/build'
make: *** [all] Error 2

Any idea? Thanks a lot,

Bert

‹ Component composition example kdl typekit lost KDL.JntArray composition function ›
»

Re: Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by kim on Thu, 2012-08-09 13:41.

Hi

I think you need to include the path to the eigen3 header-files into the some environment variables. Try running this in the console before compiling:

 include_path=/usr/include/eigen3
 C_INCLUDE_PATH=$include_path:$C_INCLUDE_PATH
 export C_INCLUDE_PATH 
 CPLUS_INCLUDE_PATH=$include_path:$CPLUS_INCLUDE_PATH
 export CPLUS_SINCLUDE_PATH 
 CPATH=$include_path:$CPATH
 export CPATH

Worked for me. You should consider including this as default when you beet to avoid the same problems when using KDL.

Kim

»
Ruben Smits's picture

Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by Ruben Smits on Thu, 2012-08-23 13:28.

Hi Kim,

On Thu, Aug 23, 2012 at 2:06 PM, <kimmat [..] ...> wrote:
> Hi,
>
> I am using:
> Linux version 2.6.38.8xenomai (gcc version 4.4.5 (Debian 4.4.5-8) ) #14 SMP
> PREEMPT Wed Aug 8 16:05:22 CEST 2012
>
> Debian with a new Xenomai kernel that I compiled.
>
> I am using eigen2, but he seemed to have the same problem as I experienced.
> Note that I am not using ROS.

This is confusing since the subject of you mail stated Orocos
installing for Fuerte (which is clearly a ROS distribution ;) )

I think we should mark this as a bug for orocos-kdl which should
provide a pc file or config.cmake file that includes this compiling
flag information.

Ruben

> The pkgconfig files are present:
>
> 

> cat /usr/share/pkgconfig/eigen2.pc
>
> Name: Eigen2
> Description: A C++ template library for linear algebra: vectors, matrices,
> and related algorithms
> Requires:
> Version: 2.0.15
> Libs:
> Cflags: -I/usr/include/eigen2
>
> cat /usr/share/pkgconfig/eigen3.pc
> Name: Eigen3
> Description: A C++ template library for linear algebra: vectors, matrices,
> and related algorithms
> Requires:
> Version: 3.0.2
> Libs:
> Cflags: -I/usr/include/eigen3
>

>
> Here is the make output
>
> 
> # make VERBOSE=1
> /usr/bin/cmake -H/home/eir/software_build/rtt_geometry/kdl_typekit
> -B/home/eir/software_build/rtt_geometry/build --check-build-system
> CMakeFiles/Makefile.cmake 0
> /usr/bin/cmake -E cmake_progress_start
> /home/eir/software_build/rtt_geometry/build/CMakeFiles
> /home/eir/software_build/rtt_geometry/build/CMakeFiles/progress.marks
> make -f CMakeFiles/Makefile2 all
> make[1]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> make -f CMakeFiles/kdl_typekit.dir/build.make
> CMakeFiles/kdl_typekit.dir/depend
> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> cd /home/eir/software_build/rtt_geometry/build && /usr/bin/cmake -E
> cmake_depends "Unix Makefiles"
> /home/eir/software_build/rtt_geometry/kdl_typekit
> /home/eir/software_build/rtt_geometry/kdl_typekit
> /home/eir/software_build/rtt_geometry/build
> /home/eir/software_build/rtt_geometry/build
> /home/eir/software_build/rtt_geometry/build/CMakeFiles/kdl_typekit.dir/DependInfo.cmake
> --color=
> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> make -f CMakeFiles/kdl_typekit.dir/build.make
> CMakeFiles/kdl_typekit.dir/build
> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 1
> [  6%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 2
> [ 13%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitConstructors.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 3
> [ 20%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitOperators.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 4
> [ 26%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitChain.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 5
> [ 33%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitFrame.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 6
> [ 40%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJacobian.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 7
> [ 46%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJntArray.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 8
> [ 53%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJoint.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 9
> [ 60%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o -c
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> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 10
> [ 66%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
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> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o -c
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> /home/eir/software_build/rtt_geometry/build/CMakeFiles 11
> [ 73%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
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> [ 80%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
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> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
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> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitVector.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 13
> [ 86%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
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> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
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> [ 93%] Building CXX object CMakeFiles/kdl_typekit.dir/src/motionproperties.o
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> -DROTATION_PROPERTIES_RPY -fPIC
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> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/motionproperties.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/motionproperties.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 15
> [100%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kinfamproperties.cpp
> Linking CXX shared library libkdl_typekit-xenomai.so
> /usr/bin/cmake -E cmake_link_script CMakeFiles/kdl_typekit.dir/link.txt
> --verbose=1
> /usr/bin/c++  -fPIC   -shared -Wl,-soname,libkdl_typekit-xenomai.so -o
> libkdl_typekit-xenomai.so CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
> CMakeFiles/kdl_typekit.dir/src/motionproperties.o
> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -L/usr/xenomai/lib
> /home/eir/software_build/orocos-toolchain-2.5.0/install/lib/liborocos-rtt-xenomai.so.2.5.0
> -lorocos-kdl -lboost_filesystem-mt -lboost_system-mt -lboost_serialization-mt
> /usr/xenomai/lib/libxenomai.so /usr/xenomai/lib/libnative.so -lpthread -ldl
> /usr/xenomai/lib/libpthread_rt.so
> -Wl,-rpath,/usr/xenomai/lib:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles  1 2 3 4 5 6 7 8 9 10
> 11 12 13 14 15
> [100%] Built target kdl_typekit
> make[1]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_start
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 0
>

>
> Hope this answers you questions?
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

»

Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by kim on Thu, 2012-08-23 14:32.

Hi,

I was just trying to help bwillaert
<http://www.orocos.org/users/bwillaert> (the thread starter) with some
suggestions that I thought could be helpful. I had very similar trouble
with Eigen2 when I was trying to compile the kdl typekit, so I thought I
would share what helped for me. I am sorry if I confused you in any way.

Kim

On 08/23/2012 03:24 PM, Ruben Smits wrote:
> Hi Kim,
>
> On Thu, Aug 23, 2012 at 2:06 PM, <kimmat [..] ...> wrote:
>> Hi,
>>
>> I am using:
>> Linux version 2.6.38.8xenomai (gcc version 4.4.5 (Debian 4.4.5-8) ) #14 SMP
>> PREEMPT Wed Aug 8 16:05:22 CEST 2012
>>
>> Debian with a new Xenomai kernel that I compiled.
>>
>> I am using eigen2, but he seemed to have the same problem as I experienced.
>> Note that I am not using ROS.
> This is confusing since the subject of you mail stated Orocos
> installing for Fuerte (which is clearly a ROS distribution ;) )
>
> I think we should mark this as a bug for orocos-kdl which should
> provide a pc file or config.cmake file that includes this compiling
> flag information.
>
> Ruben
>
>> The pkgconfig files are present:
>>
>> 

>> cat /usr/share/pkgconfig/eigen2.pc
>>
>> Name: Eigen2
>> Description: A C++ template library for linear algebra: vectors, matrices,
>> and related algorithms
>> Requires:
>> Version: 2.0.15
>> Libs:
>> Cflags: -I/usr/include/eigen2
>>
>> cat /usr/share/pkgconfig/eigen3.pc
>> Name: Eigen3
>> Description: A C++ template library for linear algebra: vectors, matrices,
>> and related algorithms
>> Requires:
>> Version: 3.0.2
>> Libs:
>> Cflags: -I/usr/include/eigen3
>>

>>
>> Here is the make output
>>
>> 
>> # make VERBOSE=1
>> /usr/bin/cmake -H/home/eir/software_build/rtt_geometry/kdl_typekit
>> -B/home/eir/software_build/rtt_geometry/build --check-build-system
>> CMakeFiles/Makefile.cmake 0
>> /usr/bin/cmake -E cmake_progress_start
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles/progress.marks
>> make -f CMakeFiles/Makefile2 all
>> make[1]: Entering directory `/home/eir/software_build/rtt_geometry/build'
>> make -f CMakeFiles/kdl_typekit.dir/build.make
>> CMakeFiles/kdl_typekit.dir/depend
>> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
>> cd /home/eir/software_build/rtt_geometry/build && /usr/bin/cmake -E
>> cmake_depends "Unix Makefiles"
>> /home/eir/software_build/rtt_geometry/kdl_typekit
>> /home/eir/software_build/rtt_geometry/kdl_typekit
>> /home/eir/software_build/rtt_geometry/build
>> /home/eir/software_build/rtt_geometry/build
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles/kdl_typekit.dir/DependInfo.cmake
>> --color=
>> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
>> make -f CMakeFiles/kdl_typekit.dir/build.make
>> CMakeFiles/kdl_typekit.dir/build
>> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 1
>> [  6%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 2
>> [ 13%] Building CXX object
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitConstructors.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 3
>> [ 20%] Building CXX object
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitOperators.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 4
>> [ 26%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitChain.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 5
>> [ 33%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitFrame.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 6
>> [ 40%] Building CXX object
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJacobian.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 7
>> [ 46%] Building CXX object
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJntArray.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 8
>> [ 53%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJoint.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 9
>> [ 60%] Building CXX object
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitRotation.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 10
>> [ 66%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitSegment.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 11
>> [ 73%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitTwist.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 12
>> [ 80%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitVector.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 13
>> [ 86%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitWrench.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 14
>> [ 93%] Building CXX object CMakeFiles/kdl_typekit.dir/src/motionproperties.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/motionproperties.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/motionproperties.cpp
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 15
>> [100%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o
>> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
>> -DROTATION_PROPERTIES_RPY -fPIC
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
>> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
>> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
>> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -c
>> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kinfamproperties.cpp
>> Linking CXX shared library libkdl_typekit-xenomai.so
>> /usr/bin/cmake -E cmake_link_script CMakeFiles/kdl_typekit.dir/link.txt
>> --verbose=1
>> /usr/bin/c++  -fPIC   -shared -Wl,-soname,libkdl_typekit-xenomai.so -o
>> libkdl_typekit-xenomai.so CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
>> CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
>> CMakeFiles/kdl_typekit.dir/src/motionproperties.o
>> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -L/usr/xenomai/lib
>> /home/eir/software_build/orocos-toolchain-2.5.0/install/lib/liborocos-rtt-xenomai.so.2.5.0
>> -lorocos-kdl -lboost_filesystem-mt -lboost_system-mt -lboost_serialization-mt
>> /usr/xenomai/lib/libxenomai.so /usr/xenomai/lib/libnative.so -lpthread -ldl
>> /usr/xenomai/lib/libpthread_rt.so
>> -Wl,-rpath,/usr/xenomai/lib:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
>> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
>> /usr/bin/cmake -E cmake_progress_report
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles  1 2 3 4 5 6 7 8 9 10
>> 11 12 13 14 15
>> [100%] Built target kdl_typekit
>> make[1]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
>> /usr/bin/cmake -E cmake_progress_start
>> /home/eir/software_build/rtt_geometry/build/CMakeFiles 0
>>

>>
>> Hope this answers you questions?
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>

»
Ruben Smits's picture

Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by Ruben Smits on Thu, 2012-08-23 15:04.

On Thu, Aug 23, 2012 at 4:26 PM, Kim Mathiassen <kimmat [..] ...> wrote:
> Hi,
>
> I was just trying to help bwillaert (the thread starter) with some
> suggestions that I thought could be helpful. I had very similar trouble with
> Eigen2 when I was trying to compile the kdl typekit, so I thought I would
> share what helped for me. I am sorry if I confused you in any way.

Np, thanks for sharing.

Ruben

> Kim
>
>
> On 08/23/2012 03:24 PM, Ruben Smits wrote:
>
> Hi Kim,
>
> On Thu, Aug 23, 2012 at 2:06 PM, <kimmat [..] ...> wrote:
>
> Hi,
>
> I am using:
> Linux version 2.6.38.8xenomai (gcc version 4.4.5 (Debian 4.4.5-8) ) #14 SMP
> PREEMPT Wed Aug 8 16:05:22 CEST 2012
>
> Debian with a new Xenomai kernel that I compiled.
>
> I am using eigen2, but he seemed to have the same problem as I experienced.
> Note that I am not using ROS.
>
> This is confusing since the subject of you mail stated Orocos
> installing for Fuerte (which is clearly a ROS distribution ;) )
>
> I think we should mark this as a bug for orocos-kdl which should
> provide a pc file or config.cmake file that includes this compiling
> flag information.
>
> Ruben
>
> The pkgconfig files are present:
>
> 

> cat /usr/share/pkgconfig/eigen2.pc
>
> Name: Eigen2
> Description: A C++ template library for linear algebra: vectors, matrices,
> and related algorithms
> Requires:
> Version: 2.0.15
> Libs:
> Cflags: -I/usr/include/eigen2
>
> cat /usr/share/pkgconfig/eigen3.pc
> Name: Eigen3
> Description: A C++ template library for linear algebra: vectors, matrices,
> and related algorithms
> Requires:
> Version: 3.0.2
> Libs:
> Cflags: -I/usr/include/eigen3
>

>
> Here is the make output
>
> 
> # make VERBOSE=1
> /usr/bin/cmake -H/home/eir/software_build/rtt_geometry/kdl_typekit
> -B/home/eir/software_build/rtt_geometry/build --check-build-system
> CMakeFiles/Makefile.cmake 0
> /usr/bin/cmake -E cmake_progress_start
> /home/eir/software_build/rtt_geometry/build/CMakeFiles
> /home/eir/software_build/rtt_geometry/build/CMakeFiles/progress.marks
> make -f CMakeFiles/Makefile2 all
> make[1]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> make -f CMakeFiles/kdl_typekit.dir/build.make
> CMakeFiles/kdl_typekit.dir/depend
> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> cd /home/eir/software_build/rtt_geometry/build && /usr/bin/cmake -E
> cmake_depends "Unix Makefiles"
> /home/eir/software_build/rtt_geometry/kdl_typekit
> /home/eir/software_build/rtt_geometry/kdl_typekit
> /home/eir/software_build/rtt_geometry/build
> /home/eir/software_build/rtt_geometry/build
> /home/eir/software_build/rtt_geometry/build/CMakeFiles/kdl_typekit.dir/DependInfo.cmake
> --color=
> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> make -f CMakeFiles/kdl_typekit.dir/build.make
> CMakeFiles/kdl_typekit.dir/build
> make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 1
> [  6%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 2
> [ 13%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitConstructors.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 3
> [ 20%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitOperators.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 4
> [ 26%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitChain.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 5
> [ 33%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitFrame.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 6
> [ 40%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJacobian.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 7
> [ 46%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJntArray.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 8
> [ 53%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitJoint.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 9
> [ 60%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitRotation.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 10
> [ 66%] Building CXX object
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitSegment.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 11
> [ 73%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitTwist.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 12
> [ 80%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitVector.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 13
> [ 86%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekitWrench.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 14
> [ 93%] Building CXX object CMakeFiles/kdl_typekit.dir/src/motionproperties.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/motionproperties.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/motionproperties.cpp
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 15
> [100%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o
> /usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai
> -DROTATION_PROPERTIES_RPY -fPIC
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include
> -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos
> -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o
> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -c
> /home/eir/software_build/rtt_geometry/kdl_typekit/src/kinfamproperties.cpp
> Linking CXX shared library libkdl_typekit-xenomai.so
> /usr/bin/cmake -E cmake_link_script CMakeFiles/kdl_typekit.dir/link.txt
> --verbose=1
> /usr/bin/c++  -fPIC   -shared -Wl,-soname,libkdl_typekit-xenomai.so -o
> libkdl_typekit-xenomai.so CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitOperators.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitChain.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitFrame.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJacobian.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJntArray.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitJoint.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitRotation.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitSegment.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitTwist.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitVector.o
> CMakeFiles/kdl_typekit.dir/src/kdlTypekitWrench.o
> CMakeFiles/kdl_typekit.dir/src/motionproperties.o
> CMakeFiles/kdl_typekit.dir/src/kinfamproperties.o -L/usr/xenomai/lib
> /home/eir/software_build/orocos-toolchain-2.5.0/install/lib/liborocos-rtt-xenomai.so.2.5.0
> -lorocos-kdl -lboost_filesystem-mt -lboost_system-mt
> -lboost_serialization-mt
> /usr/xenomai/lib/libxenomai.so /usr/xenomai/lib/libnative.so -lpthread -ldl
> /usr/xenomai/lib/libpthread_rt.so
> -Wl,-rpath,/usr/xenomai/lib:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
> make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_report
> /home/eir/software_build/rtt_geometry/build/CMakeFiles  1 2 3 4 5 6 7 8 9 10
> 11 12 13 14 15
> [100%] Built target kdl_typekit
> make[1]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
> /usr/bin/cmake -E cmake_progress_start
> /home/eir/software_build/rtt_geometry/build/CMakeFiles 0
>

>
> Hope this answers you questions?
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
>

»
Ruben Smits's picture

Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by Ruben Smits on Thu, 2012-08-23 10:16.

Hi Kim,

Which version of kdl_typekit are you using, can you send us the output
of 'make VERBOSE=1'
Thanks.

Ruben

On Thu, Aug 9, 2012 at 3:41 PM, <kimmat [..] ...> wrote:
> Hi
>
> I think you need to include the path to the eigen3 header-files into the some
> environment variables. Try running this in the console before compiling:
>
>
> include_path=/usr/include/eigen3
> C_INCLUDE_PATH=$include_path:$C_INCLUDE_PATH
> export C_INCLUDE_PATH
> CPLUS_INCLUDE_PATH=$include_path:$CPLUS_INCLUDE_PATH
> export CPLUS_SINCLUDE_PATH
> CPATH=$include_path:$CPATH
> export CPATH
>
>
> Worked for me. You should consider including this as default when you beet to
> avoid the same problems when using KDL.
>
> Kim
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

»
Ruben Smits's picture

Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by Ruben Smits on Thu, 2012-08-23 10:24.

Hi Kim,

On Thu, Aug 23, 2012 at 12:14 PM, Ruben Smits
<ruben [dot] smits [..] ...> wrote:
> Hi Kim,
>
> Which version of kdl_typekit are you using, can you send us the output
> of 'make VERBOSE=1'
> Thanks.
>
> Ruben
>
> On Thu, Aug 9, 2012 at 3:41 PM, <kimmat [..] ...> wrote:
>> Hi
>>
>> I think you need to include the path to the eigen3 header-files into the some
>> environment variables. Try running this in the console before compiling:
>>

As you can see in the manifest.xml of orocos_kdl, the include flags
are retrieved using pkg-config. Which distro are you using, which
version of eigen3 do you have installed? Can you check whether you
have /usr/share/pkgconfig/eigen3.pc or /usr/lib/pkgconfig/eigen3.pc?

Ruben

>>
>> include_path=/usr/include/eigen3
>> C_INCLUDE_PATH=$include_path:$C_INCLUDE_PATH
>> export C_INCLUDE_PATH
>> CPLUS_INCLUDE_PATH=$include_path:$CPLUS_INCLUDE_PATH
>> export CPLUS_SINCLUDE_PATH
>> CPATH=$include_path:$CPATH
>> export CPATH
>>
>>
>> Worked for me. You should consider including this as default when you beet to
>> avoid the same problems when using KDL.
>>
>> Kim
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu

»

Re: Installing Orocos for Fuerte: compiling kdl_typekit fails

Submitted by kim on Thu, 2012-08-23 12:06.

Hi,

I am using: Linux version 2.6.38.8xenomai (gcc version 4.4.5 (Debian 4.4.5-8) ) #14 SMP PREEMPT Wed Aug 8 16:05:22 CEST 2012

Debian with a new Xenomai kernel that I compiled.

I am using eigen2, but he seemed to have the same problem as I experienced. Note that I am not using ROS.

The pkgconfig files are present:

cat /usr/share/pkgconfig/eigen2.pc 
 
Name: Eigen2
Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms
Requires:
Version: 2.0.15
Libs:
Cflags: -I/usr/include/eigen2
 
cat /usr/share/pkgconfig/eigen3.pc 
Name: Eigen3
Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms
Requires:
Version: 3.0.2
Libs:
Cflags: -I/usr/include/eigen3

Here is the make output

# make VERBOSE=1
/usr/bin/cmake -H/home/eir/software_build/rtt_geometry/kdl_typekit -B/home/eir/software_build/rtt_geometry/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/eir/software_build/rtt_geometry/build/CMakeFiles /home/eir/software_build/rtt_geometry/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/eir/software_build/rtt_geometry/build'
make -f CMakeFiles/kdl_typekit.dir/build.make CMakeFiles/kdl_typekit.dir/depend
make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
cd /home/eir/software_build/rtt_geometry/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/eir/software_build/rtt_geometry/kdl_typekit /home/eir/software_build/rtt_geometry/kdl_typekit /home/eir/software_build/rtt_geometry/build /home/eir/software_build/rtt_geometry/build /home/eir/software_build/rtt_geometry/build/CMakeFiles/kdl_typekit.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/eir/software_build/rtt_geometry/build'
make -f CMakeFiles/kdl_typekit.dir/build.make CMakeFiles/kdl_typekit.dir/build
make[2]: Entering directory `/home/eir/software_build/rtt_geometry/build'
/usr/bin/cmake -E cmake_progress_report /home/eir/software_build/rtt_geometry/build/CMakeFiles 1
[  6%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o
/usr/bin/c++   -Dkdl_typekit_EXPORTS -DOROCOS_TARGET=xenomai -DROTATION_PROPERTIES_RPY -fPIC -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include -I/home/eir/software_build/orocos-toolchain-2.5.0/install/include/orocos -I/usr/xenomai/include/xenomai -I/usr/share/idl/orbsvcs   -o CMakeFiles/kdl_typekit.dir/src/kdlTypekit.o -c /home/eir/software_build/rtt_geometry/kdl_typekit/src/kdlTypekit.cpp
/usr/bin/cmake -E cmake_progress_report /home/eir/software_build/rtt_geometry/build/CMakeFiles 2
[ 13%] Building CXX object CMakeFiles/kdl_typekit.dir/src/kdlTypekitConstructors.o
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