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dwa-local-planner: improving linking in CMakeLists.txt 

I discovered the linking issue while investigating #291.

Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
This commit is contained in:
Lukas Bulwahn 2015-02-19 09:23:06 +01:00
parent ee404cf2b0
commit bdd682152a
2 changed files with 53 additions and 0 deletions
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51
recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch Normal file
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@ -0,0 +1,51 @@
From 2cb85fa4b189ea62bc918a5fc54bb6ba73a6e125 Mon Sep 17 00:00:00 2001
From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
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 <lukas.bulwahn@oss.bmw-carit.de>
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

2
recipes-ros/navigation/dwa-local-planner_1.11.14.bb
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@ -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"