Thanks very much! I haven't got access to the code. I have put the files .h and .so in ~/catin_ws/src/beginner_tutorials/src and I don't know how to write the CMakeLists, would you please tell me the details on how to write "target_link_library" and other place need to write. Thanks!

See my edit

Thanks very much! And I wonder how to use the function in .so. When I just include ".h", and use the function in the .so, catkin_make say cannot find the function. If I need #include "dlfcn.h" and use dlopen and dlsym to get the function? Thanks a lot!

Hi..I a have a doubt here...

Declare a C++ library

add_library(iarm_exact_dynamics

src/${PROJECT_NAME}/iarm_exact_dynamics.cpp

)

whats is this for?

@khairulizwan This compiles a library called iarm_exact_dynamics from the given source file.

Still in doubt/unclear about this. I am trying the create the iARM package. iARM manufacturer provided the .h file, .lib file and also .so file. Are this procedure correct: 1. copy the .h file --> include (mkdir -p include?) 2. copy the .so file --> lib (mkdir -p lib?) 3. edit the CMakelist.txt

How about .lib file?

@khairulizwan yes, I'd say that's the correct approach. I never worked with .lib files but it should work the same way.