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@ -0,0 +1,51 @@
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From 2cb85fa4b189ea62bc918a5fc54bb6ba73a6e125 Mon Sep 17 00:00:00 2001
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From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
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Date: Thu, 19 Feb 2015 08:18:03 +0100
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Subject: [PATCH] link only libraries found with find_package
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When cross-compiling dwa_local_planner with the OpenEmbedded layer
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for ROS, meta-ros [1], I stumbled over the following issue. During
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'Linking CXX shared library devel/lib/libdwa_local_planner.so', the
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g++ call for this linking step includes amongst many other arguments
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these two arguments in this order:
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-lbase_local_planner /[...]/sysroots/qemux86/opt/ros/hydro/lib/libbase_local_planner.so
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In the meta-ros setup, the linker aborts with:
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.../sysroots/x86_64-linux/usr/libexec/i586-oe-linux/gcc/i586-oe-linux/4.9.1/ld: cannot find -lbase_local_planner
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The linking fails, because in the cross-compiling scenario,
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-lbase_local_planner is not resolved. However, cmake and the
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find_package command is set up such that the pathes are resolved
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correctly in this setting. To use these correct pathes, the
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link_target_libraries should not hard-code the library name, but
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only use the libraries found with find_package.
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Probably, this has not been noticed before, as in the common setup,
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find_package resolved to the hard-coded value.
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[1] https://github.com/bmwcarit/meta-ros/
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Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
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Upstream-Status: Submitted [https://github.com/ros-planning/navigation/pull/311]
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---
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dwa_local_planner/CMakeLists.txt | 2 +-
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1 file changed, 1 insertion(+), 1 deletion(-)
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diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt
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index e68286e..6e9a11a 100644
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--- a/dwa_local_planner/CMakeLists.txt
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+++ b/dwa_local_planner/CMakeLists.txt
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@@ -42,7 +42,7 @@ catkin_package(
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)
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add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
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-target_link_libraries(dwa_local_planner base_local_planner ${catkin_LIBRARIES})
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+target_link_libraries(dwa_local_planner ${catkin_LIBRARIES})
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add_dependencies(dwa_local_planner dwa_local_planner_gencfg)
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add_dependencies(dwa_local_planner nav_msgs_gencpp)
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--
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1.8.3.2
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KristofRobot