error: ‘class btMatrix3x3’ has no member named ‘getRPY’ when building tf

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Hello -- I'm trying to build tf from source on a beagle. I built the fuerte-ros-base.rosinstall and that all installed properly. I downloaded tf using:

roslocate info tf | rosws merge -
rosws update

I also installed bullet using

roslocate info bullet | rosws merge -
rosws update

after sorting out all my other dependencies I ran

rosmake geometry

and now I am getting errors:

  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h: In function ‘double tf::getYaw(const Quaternion&)’:
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h:140:21: error: ‘class btMatrix3x3’ has no member named ‘getRPY’
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h: In function ‘tf::Quaternion tf::createQuaternionFromRPY(double, double, double)’:
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h:159:5: error: ‘tf::Quaternion’ has no member named ‘setRPY’
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h: In function ‘tf::Quaternion tf::createQuaternionFromYaw(double)’:
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h:169:5: error: ‘tf::Quaternion’ has no member named ‘setRPY’
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h: In function ‘geometry_msgs::Quaternion tf::createQuaternionMsgFromYaw(double)’:
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h:179:5: error: ‘tf::Quaternion’ has no member named ‘setRPY’
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h: In function ‘tf::Quaternion tf::createIdentityQuaternion()’:
  /home/ubuntu/ros/geometry/tf/include/tf/transform_datatypes.h:203:5: error: ‘tf::Quaternion’ has no member named ‘setRPY’

I saw this old message on ros-users which seemed relevant:

http://code.ros.org/lurker/message/20091009.014115.55a2c1bd.ca.html

but that was ages ago, and it claims that this problem was fixed. (I tried deleting bullet/build as recommended in that email just in case, but that didn't resolve anything)

I'm guessing it has something to do with a version mismatch between the geometry stack and the bullet stack that I have picked up. roslocate gave me the tf_rework branch of geometry and the default branch of bullet.

Which branches should I use for use with fuerte?

Thanks -s

UPDATE: I tried using the tf_rework branch of bullet and I received this error when building:

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLUT_INCLUDE_DIR (ADVANCED)
   used as include directory in directory /home/ubuntu/ros/bullet/bullet/build/bullet_svn

[...]

GLUT_glut_LIBRARY (ADVANCED)
    linked by target "OpenGLSupport" in directory /home/ubuntu/ros/bullet/bullet/build/bullet_svn/Demos/OpenGL