Re: [ompl-users] select correct ompl lib when compiling

[Mark M. <mm...@ri...>]

Hi Max,

You need to make sure to set up your include path right. If /opt/ros/kinetic/include comes before /usr/local/include, then the header files of the old version of OMPL will be found during the compilation of your code.

Best,

Mark



> On Oct 16, 2019, at 11:13 AM, Max Baeten <m.j...@gm...> wrote:
> 
> Hi OMPL wizards,
> 
> Im having trouble linking against the correct ompl version on my ubuntu system where I have ROS kinetic installed. I have two versions installed one installed via ROS and one compiled from source: 
> 
> /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.1.2.1
> /usr/local/lib/libompl.so.1.4.2
> 
> In CMakeList.txt in my own ros package, I can use the following lines to select either version of OMPL such that I can link my code against the new from source installed 1.4.2 version. 
> 
> find_package(ompl 1.4.2 REQUIRED)
> message("OMPL_VERSIOOMPL version: 1.2.1
> N: ${OMPL_VERSION}")
> 
> This works, Cmake prints the correct 1.4.2 version. Also when I leave the version number out then it prints 1.2.1 (ROS version) and when i put 1.4.3 it gives an error that it cant't find that version.
> 
> So the linking to the correct library seems to work. However when I run my code that includes the following:
> 
>     std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
> 
> Then it prints out:
> OMPL version: 1.2.1
> 
> Either i am still linking to the wrong ompl lib or the printing of the ompl version is incorrect? Any ideas?
> 
> Kind regards,
> 
> Max
> 
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