From bdd682152af73e1aa63de573dc3924484a0b0cfa Mon Sep 17 00:00:00 2001 From: Lukas Bulwahn Date: Thu, 19 Feb 2015 09:23:06 +0100 Subject: [PATCH 1/3] dwa-local-planner: improving linking in CMakeLists.txt I discovered the linking issue while investigating #291. Signed-off-by: Lukas Bulwahn --- ...ly-libraries-found-with-find_package.patch | 51 +++++++++++++++++++ .../navigation/dwa-local-planner_1.11.14.bb | 2 + 2 files changed, 53 insertions(+) create mode 100644 recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch diff --git a/recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch b/recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch new file mode 100644 index 0000000..36a6e45 --- /dev/null +++ b/recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch @@ -0,0 +1,51 @@ +From 2cb85fa4b189ea62bc918a5fc54bb6ba73a6e125 Mon Sep 17 00:00:00 2001 +From: Lukas Bulwahn +Date: Thu, 19 Feb 2015 08:18:03 +0100 +Subject: [PATCH] link only libraries found with find_package + +When cross-compiling dwa_local_planner with the OpenEmbedded layer +for ROS, meta-ros [1], I stumbled over the following issue. During +'Linking CXX shared library devel/lib/libdwa_local_planner.so', the +g++ call for this linking step includes amongst many other arguments +these two arguments in this order: + + -lbase_local_planner /[...]/sysroots/qemux86/opt/ros/hydro/lib/libbase_local_planner.so + +In the meta-ros setup, the linker aborts with: + .../sysroots/x86_64-linux/usr/libexec/i586-oe-linux/gcc/i586-oe-linux/4.9.1/ld: cannot find -lbase_local_planner + +The linking fails, because in the cross-compiling scenario, +-lbase_local_planner is not resolved. However, cmake and the +find_package command is set up such that the pathes are resolved +correctly in this setting. To use these correct pathes, the +link_target_libraries should not hard-code the library name, but +only use the libraries found with find_package. + +Probably, this has not been noticed before, as in the common setup, +find_package resolved to the hard-coded value. + +[1] https://github.com/bmwcarit/meta-ros/ + +Signed-off-by: Lukas Bulwahn + +Upstream-Status: Submitted [https://github.com/ros-planning/navigation/pull/311] +--- + dwa_local_planner/CMakeLists.txt | 2 +- + 1 file changed, 1 insertion(+), 1 deletion(-) + +diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt +index e68286e..6e9a11a 100644 +--- a/dwa_local_planner/CMakeLists.txt ++++ b/dwa_local_planner/CMakeLists.txt +@@ -42,7 +42,7 @@ catkin_package( + ) + + add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp) +-target_link_libraries(dwa_local_planner base_local_planner ${catkin_LIBRARIES}) ++target_link_libraries(dwa_local_planner ${catkin_LIBRARIES}) + add_dependencies(dwa_local_planner dwa_local_planner_gencfg) + add_dependencies(dwa_local_planner nav_msgs_gencpp) + +-- +1.8.3.2 + diff --git a/recipes-ros/navigation/dwa-local-planner_1.11.14.bb b/recipes-ros/navigation/dwa-local-planner_1.11.14.bb index b094242..6bd829e 100644 --- a/recipes-ros/navigation/dwa-local-planner_1.11.14.bb +++ b/recipes-ros/navigation/dwa-local-planner_1.11.14.bb @@ -8,3 +8,5 @@ DEPENDS = "base-local-planner costmap-2d dynamic-reconfigure libeigen nav-core \ nav-msgs pluginlib pcl-conversions roscpp tf" require navigation.inc + +SRC_URI += "file://0001-link-only-libraries-found-with-find_package.patch;striplevel=2" From f11b591ac77dc5ef90505483157e65fed5f53076 Mon Sep 17 00:00:00 2001 From: Lukas Bulwahn Date: Fri, 20 Feb 2015 07:07:19 +0100 Subject: [PATCH 2/3] navigation: updating to 1.11.15 --- recipes-ros/navigation/{amcl_1.11.14.bb => amcl_1.11.15.bb} | 0 ...local-planner_1.11.14.bb => base-local-planner_1.11.15.bb} | 0 .../{carrot-planner_1.11.14.bb => carrot-planner_1.11.15.bb} | 0 ...-recovery_1.11.14.bb => clear-costmap-recovery_1.11.15.bb} | 0 .../{costmap-2d_1.11.14.bb => costmap-2d_1.11.15.bb} | 0 ...-local-planner_1.11.14.bb => dwa-local-planner_1.11.15.bb} | 0 ...e-localization_1.11.14.bb => fake-localization_1.11.15.bb} | 0 .../{global-planner_1.11.14.bb => global-planner_1.11.15.bb} | 0 .../{map-server_1.11.14.bb => map-server_1.11.15.bb} | 0 .../{move-base-msgs_1.11.14.bb => move-base-msgs_1.11.15.bb} | 0 .../navigation/{move-base_1.11.14.bb => move-base_1.11.15.bb} | 0 ...ow-and-clear_1.11.14.bb => move-slow-and-clear_1.11.15.bb} | 0 .../navigation/{nav-core_1.11.14.bb => nav-core_1.11.15.bb} | 0 recipes-ros/navigation/{navfn_1.11.14.bb => navfn_1.11.15.bb} | 0 recipes-ros/navigation/navigation.inc | 4 ++-- .../{robot-pose-ekf_1.11.14.bb => robot-pose-ekf_1.11.15.bb} | 0 ...{rotate-recovery_1.11.14.bb => rotate-recovery_1.11.15.bb} | 0 .../{voxel-grid_1.11.14.bb => voxel-grid_1.11.15.bb} | 0 18 files changed, 2 insertions(+), 2 deletions(-) rename recipes-ros/navigation/{amcl_1.11.14.bb => amcl_1.11.15.bb} (100%) rename recipes-ros/navigation/{base-local-planner_1.11.14.bb => base-local-planner_1.11.15.bb} (100%) rename recipes-ros/navigation/{carrot-planner_1.11.14.bb => carrot-planner_1.11.15.bb} (100%) rename recipes-ros/navigation/{clear-costmap-recovery_1.11.14.bb => clear-costmap-recovery_1.11.15.bb} (100%) rename recipes-ros/navigation/{costmap-2d_1.11.14.bb => costmap-2d_1.11.15.bb} (100%) rename recipes-ros/navigation/{dwa-local-planner_1.11.14.bb => dwa-local-planner_1.11.15.bb} (100%) rename recipes-ros/navigation/{fake-localization_1.11.14.bb => fake-localization_1.11.15.bb} (100%) rename recipes-ros/navigation/{global-planner_1.11.14.bb => global-planner_1.11.15.bb} (100%) rename recipes-ros/navigation/{map-server_1.11.14.bb => map-server_1.11.15.bb} (100%) rename recipes-ros/navigation/{move-base-msgs_1.11.14.bb => move-base-msgs_1.11.15.bb} (100%) rename recipes-ros/navigation/{move-base_1.11.14.bb => move-base_1.11.15.bb} (100%) rename recipes-ros/navigation/{move-slow-and-clear_1.11.14.bb => move-slow-and-clear_1.11.15.bb} (100%) rename recipes-ros/navigation/{nav-core_1.11.14.bb => nav-core_1.11.15.bb} (100%) rename recipes-ros/navigation/{navfn_1.11.14.bb => navfn_1.11.15.bb} (100%) rename recipes-ros/navigation/{robot-pose-ekf_1.11.14.bb => robot-pose-ekf_1.11.15.bb} (100%) rename recipes-ros/navigation/{rotate-recovery_1.11.14.bb => rotate-recovery_1.11.15.bb} (100%) rename recipes-ros/navigation/{voxel-grid_1.11.14.bb => voxel-grid_1.11.15.bb} (100%) diff --git a/recipes-ros/navigation/amcl_1.11.14.bb b/recipes-ros/navigation/amcl_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/amcl_1.11.14.bb rename to recipes-ros/navigation/amcl_1.11.15.bb diff --git a/recipes-ros/navigation/base-local-planner_1.11.14.bb b/recipes-ros/navigation/base-local-planner_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/base-local-planner_1.11.14.bb rename to recipes-ros/navigation/base-local-planner_1.11.15.bb diff --git a/recipes-ros/navigation/carrot-planner_1.11.14.bb b/recipes-ros/navigation/carrot-planner_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/carrot-planner_1.11.14.bb rename to recipes-ros/navigation/carrot-planner_1.11.15.bb diff --git a/recipes-ros/navigation/clear-costmap-recovery_1.11.14.bb b/recipes-ros/navigation/clear-costmap-recovery_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/clear-costmap-recovery_1.11.14.bb rename to recipes-ros/navigation/clear-costmap-recovery_1.11.15.bb diff --git a/recipes-ros/navigation/costmap-2d_1.11.14.bb b/recipes-ros/navigation/costmap-2d_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/costmap-2d_1.11.14.bb rename to recipes-ros/navigation/costmap-2d_1.11.15.bb diff --git a/recipes-ros/navigation/dwa-local-planner_1.11.14.bb b/recipes-ros/navigation/dwa-local-planner_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/dwa-local-planner_1.11.14.bb rename to recipes-ros/navigation/dwa-local-planner_1.11.15.bb diff --git a/recipes-ros/navigation/fake-localization_1.11.14.bb b/recipes-ros/navigation/fake-localization_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/fake-localization_1.11.14.bb rename to recipes-ros/navigation/fake-localization_1.11.15.bb diff --git a/recipes-ros/navigation/global-planner_1.11.14.bb b/recipes-ros/navigation/global-planner_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/global-planner_1.11.14.bb rename to recipes-ros/navigation/global-planner_1.11.15.bb diff --git a/recipes-ros/navigation/map-server_1.11.14.bb b/recipes-ros/navigation/map-server_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/map-server_1.11.14.bb rename to recipes-ros/navigation/map-server_1.11.15.bb diff --git a/recipes-ros/navigation/move-base-msgs_1.11.14.bb b/recipes-ros/navigation/move-base-msgs_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/move-base-msgs_1.11.14.bb rename to recipes-ros/navigation/move-base-msgs_1.11.15.bb diff --git a/recipes-ros/navigation/move-base_1.11.14.bb b/recipes-ros/navigation/move-base_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/move-base_1.11.14.bb rename to recipes-ros/navigation/move-base_1.11.15.bb diff --git a/recipes-ros/navigation/move-slow-and-clear_1.11.14.bb b/recipes-ros/navigation/move-slow-and-clear_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/move-slow-and-clear_1.11.14.bb rename to recipes-ros/navigation/move-slow-and-clear_1.11.15.bb diff --git a/recipes-ros/navigation/nav-core_1.11.14.bb b/recipes-ros/navigation/nav-core_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/nav-core_1.11.14.bb rename to recipes-ros/navigation/nav-core_1.11.15.bb diff --git a/recipes-ros/navigation/navfn_1.11.14.bb b/recipes-ros/navigation/navfn_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/navfn_1.11.14.bb rename to recipes-ros/navigation/navfn_1.11.15.bb diff --git a/recipes-ros/navigation/navigation.inc b/recipes-ros/navigation/navigation.inc index 0a339ba..6239b6c 100644 --- a/recipes-ros/navigation/navigation.inc +++ b/recipes-ros/navigation/navigation.inc @@ -1,6 +1,6 @@ SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz" -SRC_URI[md5sum] = "473df5475e5a289710ba476ceb6d37a5" -SRC_URI[sha256sum] = "1de48c8d8e5e22287b8be2fb51b470a5cba5d05f49ebbeaa6dfa01392f3d40ae" +SRC_URI[md5sum] = "441a198ab3223e1cd65df1a74a2520ef" +SRC_URI[sha256sum] = "747c527c0f7ce880548be81203eab3cb5022e928ca57f672a7a39107cb249c01" S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}" diff --git a/recipes-ros/navigation/robot-pose-ekf_1.11.14.bb b/recipes-ros/navigation/robot-pose-ekf_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/robot-pose-ekf_1.11.14.bb rename to recipes-ros/navigation/robot-pose-ekf_1.11.15.bb diff --git a/recipes-ros/navigation/rotate-recovery_1.11.14.bb b/recipes-ros/navigation/rotate-recovery_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/rotate-recovery_1.11.14.bb rename to recipes-ros/navigation/rotate-recovery_1.11.15.bb diff --git a/recipes-ros/navigation/voxel-grid_1.11.14.bb b/recipes-ros/navigation/voxel-grid_1.11.15.bb similarity index 100% rename from recipes-ros/navigation/voxel-grid_1.11.14.bb rename to recipes-ros/navigation/voxel-grid_1.11.15.bb From 9a5f1dbb1b2d185a4866651f056c82ad7637c8b3 Mon Sep 17 00:00:00 2001 From: Lukas Bulwahn Date: Fri, 20 Feb 2015 15:04:07 +0100 Subject: [PATCH 3/3] laser-assembler: updating patch's upstream status --- ...1-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/recipes-ros/laser-assembler/laser-assembler/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch b/recipes-ros/laser-assembler/laser-assembler/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch index 5d9a51b..f7b23b4 100644 --- a/recipes-ros/laser-assembler/laser-assembler/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch +++ b/recipes-ros/laser-assembler/laser-assembler/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch @@ -3,7 +3,7 @@ From: Lukas Bulwahn Date: Sun, 27 Jul 2014 09:58:36 +0200 Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010) -Upstream-Status: Submitted +Upstream-Status: Accepted --- CMakeLists.txt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-)