ros2 control - linking system libraries in hardware_interface

asked 2023-03-29 10:02:25 -0500

Adude
53 ●3 ●5 ●10

I have a ros2 control hardware interface which outputs to the system GPIOs. I'm currently using the libgpiod library, although the exact library isn't relevant.

The library is installed in the system (header file and .so file) and I can compile and run test scripts for controlling the GPIOs using g++ outside of ros.

As far as I'm aware, hardware interfaces are just compiled to libraries then loaded dynamically? How do I make the ros2 controller link a system library like libgpiod when it runs this specific interface?

answered 2023-04-03 08:41:34 -0500

Adude
53 ●3 ●5 ●10

In case this helps anyone, the solution was to include the target_link_libraries CMake command. Something like:

add_library(
    drive_hw_if
    SHARED
    src/drive_hw_if.cpp
)

target_link_libraries(
    drive_hw_if
    libgpiodcxx
)

Then include the library in the package.xml with the system install command, ie libgpiod-dev.

edit flag offensive delete link

Comments

Can you please share your cmake file, I am stuck here too linking the second library for GPIO as first library which is for motor controller works fine but linking the second causes errors. It would be helpful to reference it !

Ani ( 2023-05-22 22:13:45 -0500 )edit

I've put my CMake on this "pastebin". I never managed to properly link the system dependencies using find_package (although it works in the package.xml) but the rest worked, which was good enough.

Adude ( 2023-05-23 04:31:04 -0500 )edit

Thanks Adude.

Ani ( 2023-05-23 07:49:24 -0500 )edit

add a comment

ros2 control - linking system libraries in hardware_interface

1 Answer

Comments

Question Tools

Stats

Related questions

ros2 control - linking system libraries in hardware_interface edit

1 Answer

Comments

Question Tools

Stats

Related questions

ros2 control - linking system libraries in hardware_interface