Re: catkin-related changes in orogen

On Thu, Jan 2, 2014 at 4:28 PM, Sylvain Joyeux <[email protected]>wrote:

> On 01/02/2014 10:25 AM, Ruben Smits wrote:
>
>>     I'll make a list of issues (from reading the commits)
>>
>>
>> Ok, I'm currently still fixing one issue with target names and target
>> directories. Once that's fixed I would like to create a Release
>> Candidate again. I'm eagerly waiting for your issues.
>>
>>  The easy-to-spot ones:
>  - does the RTT macros still look into package.xml/manifest.xml to
>    auto-add dependencies ? If yes, is there a way to disable it ? (This
>    is an absolutely-no-way in a rock context)
>

Some information about the changes in the macros can be found here:
https://github.com/orocos-toolchain/rtt/pull/17
https://github.com/orocos-toolchain/rtt/pull/19
https://github.com/orocos-toolchain/rtt/pull/20

The issue we are trying to tackle with the changes in orogen is found here:
https://github.com/orocos-toolchain/rtt/issues/13

To summarize (Johannes, please correct me if I'm wrong):

the RTT macros will always link with the orocos_rtt libraries, I suppose
this is still OK for you. For the dependencies it depends on the buildtool
which is used, but can always be overridden by a cmake
flag: OROCOS_NO_AUTO_LINKING which by default is set to FALSE (autolinking
performed, I guess we need to invert the default!!!):

* The default pure cmake case:

Two macros are used to fill the following variables:
USE_OROCOS_PACKAGES
USE_OROCOS_LIBRARIES
USE_OROCOS_INCLUDE_DIRS
USE_OROCOS_LIBRARY_DIRS

First of all there is an orocos_find_package which fills PKG_* variables
and only works recursively in rosbuild enabled builds, it uses pkgconfig
under the hood, it takes an argument OROCOS_ONLY to only find orocos
packages.

Secondly there is an orocos_use_package that will append the previously set
PKG_* variables of orocos_find_package to the USE_OROCOS* variables.

In any case autolinking (done on a per target level) is only performed if
the OROCOS_NO_AUTO_LINKING flag is set to FALSE.

* In case of plain cmake:

OROCOS_NO_AUTO_LINKING is set to FALSE by default (can be overridden) and
orocos_use_package is performed on all dependencies in the manifest.xml
recursively without OROCOS_ONLY.
I guess this is not what you want. You can still override by
setting OROCOS_NO_AUTO_LINKING to TRUE. But maybe we should change the
default behaviour?

* In case of rosbuild (detected by a cmake flag set by the rosbuild_init
cmake macro which is not part of the template CMakeLists.txt anymore):

OROCOS_NO_AUTO_LINKING is set to FALSE by default (can be overridden) and
orocos_use_package is performed on all dependencies in the manifest.xml
recursively without OROCOS_ONLY

* In case of catkin (detected by a cmake flat set by calling catkin_make?):

OROCOS_NO_AUTO_LINKING is set to dependencies are searched
(non-recursively!!!) from the package.xml file. orocos_use_package is
called with OROCOS_ONLY: nly the packages that are identified as orocos
packages will be appended to the USE_* cmake variables, but by default
autolinking is set to false, so no autolinking is done.


>  - the renaming of the regen and check-typekit-uptodate are really
>    problematic as (1) it gets super annoying to type the regen target
>    on the command line and (2) it breaks autobuild. Could you at least
>    create global targets with the original names (regen and check-
>    typekit-update) if they do not exist already and then add the
>    dependency to the new ones ?
>
>
Seems reasonable to me. So you want a single target regen and
check-typekit-uptodate that will trigger all individual ones?

Ruben


>
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> Sylvain Joyeux (Dr.Ing.)
> Space & Security Robotics
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-- 
Ruben Smits, CTO
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu

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