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What causes a library (.so) to be copied to devel/lib

asked 2016-01-21 04:28:58 -0500

martin1412 gravatar image

updated 2016-01-21 05:39:51 -0500

Hi guys,

I've got a project comprising approximately 30 packages. Some of these packages define libraries in the CMakeLists, using the add_library and target_link_libraries functions. I am wondering why only some of these packages create shared objects in devel/lib while others aren't.

Example: I've got a package (for simplicity say package "a") which defines a library. This package is referenced as <runtime_dep> by another package (b). Sadly, when running catkin build, no shared object is copied to devel/lib, resulting in runtime failure in node b.

EDIT: Thank you for your answers, but that doesn't seem to be what I am looking for.

I am using catkin_tools to build my project. I configure my build with catkin config --no-install, hence no install targets are executed.

Still, catkin puts some libraries in devel/lib. If I look at the $LD_LIBRARY_PATH after the build, I can see that the devel/lib directory is included there. My problem is that I don't know which statement causes a defined library to be copied there at build time.

All packages define the libraries using add_library, target_link_libraries and catkin_package(... LIBRARIES <xyz>), still some of them are not copied to devel/lib

Package definition of a package which doesn't create a shared object in devel/lib:

... 
add_library(m_controllers    
     src/general.cpp    
     src/passthrough.cpp )

add_dependencies(m_controllers ${catkin_EXPORTED_TARGETS}) 
target_link_libraries(m_controllers ${catkin_LIBRARIES})

catkin_package(    
CATKIN_DEPENDS
....    
INCLUDE_DIRS include    
LIBRARIES m_controllers 
) 
...
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Comments

To add to @Akif's answer: note that for things to work in a devel workspace, you don't actually need to have any install(..) rules, just properly setup catkin_package(.. LIBRARIES ..) statements.

gvdhoorn gravatar imagegvdhoorn ( 2016-01-21 05:23:38 -0500 )edit

Seeing your other question, can you describe how you setup your workspace(s), and how you interact with them?

gvdhoorn gravatar imagegvdhoorn ( 2016-01-21 05:28:13 -0500 )edit

3 Answers

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answered 2016-01-21 05:13:33 -0500

Akif gravatar image

In addition to @F.Brosseau's answer, you can check this page for a general how-to on Building and installing C++ libraries and headers.

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answered 2016-01-21 06:35:50 -0500

gvdhoorn gravatar image

Order matters in catkin-ised CMakeLists.txt, please re-order the statements to follow the order given in wiki/catkin/CMakeLists.txt - Overall Structure and Ordering.

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The problem seems to be related to the order of commands in my CMakeLists.txt Thank you gvdhoorn!

After moving the add_library, add_dependencies and target_link_libraries statements below catkin_package, the .so file was created in devel/lib

martin1412 gravatar imagemartin1412 ( 2016-01-21 06:58:45 -0500 )edit

Please mark the question as answered by ticking the checkmark, thanks.

gvdhoorn gravatar imagegvdhoorn ( 2016-01-21 07:18:18 -0500 )edit
1

answered 2016-01-21 04:39:52 -0500

F.Brosseau gravatar image

You can try to add the following at the end of your CMakeLists.txt file :

install(TARGETS
   a
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   )
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Asked: 2016-01-21 04:28:58 -0500

Seen: 1,572 times

Last updated: Jan 21 '16