How to set up pa10library for pa10controller that uses openrave_robot_control?
Hello
Specs:
Ubuntu Precise Pangolin 12.04
Ros Fuerte
I'm trying to get my pa10 arm working using openrave_robot_control package. I successfully ros installed openrave_robot_control and all of its dependencies. I have a problem understanding how to set up my library and how does pa10controller works. This is what happens when I run rosmake pa10controller:
unex@unex-OptiPlex-GX270:~/ros_workspace$ rosmake pa10controller
[rosmake-0] Starting >>> pa10controller [ make ]
[ rosmake ] All 12 linesa10controller: 0.9 sec ] [ 1 Active 20/21 Complete ]
{-------------------------------------------------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake ..
[rosbuild] Building package pa10controller
[rosbuild] Including /opt/ros/fuerte/share/rospy/rosbuild/rospy.cmake
[rosbuild] Including /opt/ros/fuerte/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/fuerte/share/roslisp/rosbuild/roslisp.cmake
CMake Error at CMakeLists.txt:9 (message):
failed to find PA-10 library
-- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package pa10controller written to:
[ rosmake ] /home/unex/.ros/rosmake/rosmake_output-20120628-105935/pa10controller/build_output.log
[rosmake-0] Finished <<< pa10controller [FAIL] [ 0.93 seconds ]
[ rosmake ] Halting due to failure in package pa10controller.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 21 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/unex/.ros/rosmake/rosmake_output-20120628-105 935
So I check FindPA10.cmake, and didn't quite understood how and where it searches for pa10library. I appreciate any tutorial or where to add my *.h files and my lib folder.
Thanks.
Edit 1: According to FindPA10.cmake, it searches a ROS package named pa10library, so I created one in my rosworkspace.
19 # first look for the ROS package pa10library, if that isn't found, force the search
20 set(_pa10library_invoke_result)
21 execute_process(
22 COMMAND ${ROSPACK_EXE} find pa10library
I added to this package the include folder, and lib folder of my pa10 arm. I also add the *.h and my libraries to:
/usr/local/include/ the *.h goes in here
/usr/local/lib/ the pa10 library goes in here
After it I tried to compile it and get the following kind of error:
/home/unex/ros_workspace/pa10controller/src/pa10controller.h:370:30: error: 'pa_ext_arm' was not declared in this scope
I noticed, that all the functions / methods that it says that weren't declared in this scope are the one that depends from pa10library so I must has linked it wrong.
@ipso Thanks, I'll take a look to find_path documentation.