From 008012224cbe0cb937637a72952459cbd5e66f49 Mon Sep 17 00:00:00 2001
From: Murilo Belluzzo <murilo.belluzzo@intel.com>
Date: Wed, 5 Apr 2017 17:11:02 -0700
Subject: [PATCH] realsense_camera: Add patch to correct link the node...

... when the system library is used.

Signed-off-by: Murilo Belluzzo <murilo.belluzzo@intel.com>
---
 ...-link-when-the-system-library-is-use.patch | 33 +++++++++++++++++++
 .../realsense-camera_1.7.2.bb                 |  1 +
 2 files changed, 34 insertions(+)
 create mode 100644 recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch

diff --git a/recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch b/recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch
new file mode 100644
index 0000000..f4988ad
--- /dev/null
+++ b/recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch
@@ -0,0 +1,33 @@
+From fb74e5eec2368f20c4b43cf9224519b29aee35ad Mon Sep 17 00:00:00 2001
+From: Murilo Belluzzo <murilo.belluzzo@intel.com>
+Date: Wed, 5 Apr 2017 17:06:44 -0700
+Subject: [PATCH 3/3] librealsense: Fix link when the system library is used
+
+Otherwise librealsense won't be listed as a dependency for the nodelet
+that will fail to load due to undefined symbols.
+
+Upstream-Status: Accepted (expected in v1.8.1)
+    [https://github.com/intel-ros/realsense/pull/226]
+
+Signed-off-by: Murilo Belluzzo <murilo.belluzzo@intel.com>
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a1ec2f6..926992a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -106,6 +106,12 @@ add_library(${PROJECT_NAME}_nodelet src/base_nodelet.cpp src/r200_nodelet.cpp sr
+ target_link_libraries(${PROJECT_NAME}_nodelet
+   ${catkin_LIBRARIES}
+ )
++if(USE_SYSTEM_LIBREALSENSE)
++  target_link_libraries(${PROJECT_NAME}_nodelet
++    ${realsense_LIBRARY}
++    )
++endif()
++
+ add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+ add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS})
+ 
+-- 
+2.12.2
+
diff --git a/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb b/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb
index 4fa4520..0dc4fcd 100644
--- a/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb
+++ b/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb
@@ -7,6 +7,7 @@ DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp"
 SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \
            file://0001-Add-option-to-link-against-non-catkin-librealsense.patch \
            file://0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch \
+           file://0003-librealsense-Fix-link-when-the-system-library-is-use.patch \
            "
 SRC_URI[md5sum] = "aaa0d0ddaaee210e2a2529767ba45a4b"
 SRC_URI[sha256sum] = "65c6c4a0b6bd0214dffa8528033f03c0fbc4be00e52e058cfbd96b4f7d733b10"