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fix undefined reference to symbol 'ccd_vec3_origin'
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fmessmer committed Mar 20, 2024
1 parent 3713adc commit e0a552a
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Showing 2 changed files with 12 additions and 13 deletions.
16 changes: 8 additions & 8 deletions cob_obstacle_distance/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,14 @@ set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN3_DEFINITIONS})

find_package(orocos_kdl REQUIRED)

find_package(PkgConfig REQUIRED)

pkg_check_modules(ASSIMP assimp)

pkg_check_modules(LIBFCL REQUIRED fcl)
find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
set(fcl_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
find_package(fcl REQUIRED)
find_package(ccd QUIET)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
include_directories(${fcl_INCLUDE_DIRS})

catkin_package(
CATKIN_DEPENDS cob_control_msgs cob_srvs dynamic_reconfigure eigen_conversions geometry_msgs kdl_conversions kdl_parser moveit_msgs roscpp roslib sensor_msgs shape_msgs std_msgs tf tf_conversions urdf visualization_msgs
Expand All @@ -29,19 +29,19 @@ catkin_package(
)

### BUILD ###
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${FCL_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${CCD_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${fcl_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})

add_library(parsers src/parsers/mesh_parser.cpp src/parsers/stl_parser.cpp)
add_dependencies(parsers ${catkin_EXPORTED_TARGETS})
target_link_libraries(parsers assimp ${fcl_LIBRARIES} ${catkin_LIBRARIES})
target_link_libraries(parsers assimp fcl ${catkin_LIBRARIES})

add_library(marker_shapes_management src/link_to_collision.cpp src/marker_shapes/marker_shapes_impl.cpp src/marker_shapes/marker_shapes_interface.cpp src/shapes_manager.cpp)
add_dependencies(marker_shapes_management ${catkin_EXPORTED_TARGETS})
target_link_libraries(marker_shapes_management parsers ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
target_link_libraries(marker_shapes_management parsers fcl ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(${PROJECT_NAME} src/chainfk_solvers/advanced_chainfksolver_recursive.cpp src/${PROJECT_NAME}.cpp src/distance_manager.cpp src/helpers/helper_functions.cpp)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management fcl ${CCD_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(debug_obstacle_distance_node src/debug/debug_obstacle_distance_node.cpp)
add_dependencies(debug_obstacle_distance_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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9 changes: 4 additions & 5 deletions cob_obstacle_distance/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -21,15 +21,14 @@
<depend>dynamic_reconfigure</depend>
<depend>eigen_conversions</depend>
<depend>eigen</depend>
<depend condition="$ROS_DISTRO != noetic">libfcl-dev</depend>
<depend condition="$ROS_DISTRO == noetic">fcl</depend>
<depend>fcl</depend>
<depend>geometry_msgs</depend>
<depend>kdl_conversions</depend>
<depend>kdl_parser</depend>
<depend>libccd-dev</depend>
<depend>libfcl-dev</depend>
<depend>liborocos-kdl-dev</depend>
<depend>moveit_msgs</depend>
<depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
<depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
<depend condition="$ROS_DISTRO == noetic">liborocos-kdl</depend>
<depend>pkg-config</depend>
<depend>roscpp</depend>
<depend>roslib</depend>
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