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

[Max B. <m.j...@gm...>]

Hi Mark,

Thanks for your quick response. With the following lines I changed the
include path:

include_directories(
  /usr/local/include
  ${catkin_INCLUDE_DIRS}
)

message("---------------------")
get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY
INCLUDE_DIRECTORIES)
foreach(dir ${dirs})
  message(STATUS "dir='${dir}'")
endforeach()
message("---------------------")

However although this prints the desired order of include paths:

---------------------
-- dir='/usr/local/include/ompl'
-- dir='/opt/ros/kinetic/include'
-- dir='/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp'
-- dir='/usr/include'
-- dir='/usr/include/eigen3'
---------------------

When I run my code it still prints OMPL_VERSION = 1.2.1?

Regards Max


Op wo 16 okt. 2019 om 23:07 schreef Mark Moll <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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