[Jderobot] kitencViewer

[Dazuara]

Hola Arck,

El plugin libkinectPlugin.so se compila en la carpeta
jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/

El problema es que tanto el CMakeLists.txt de esa carpeta como de su build
no lo compilan bien. Yo he creado una carpeta llamada build-independent y
dentro he intendado crear mi propio CMakeLists.txt:


cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
  pkg_check_modules(GAZEBO gazebo)
  message(${GAZEBO_INCLUDE_DIRS})
endif()
include_directories(${GAZEBO_INCLUDE_DIRS} /usr/local/include/jderobot )
link_directories(${GAZEBO_LIBRARY_DIRS}  /usr/local/lib/jderobot)
MESSAGE("${GAZEBO_INCLUDE_DIRS}")
MESSAGE("${GAZEBO_LIBRARY_DIRS}")

FIND_PACKAGE(OpenCV REQUIRED)
PKG_CHECK_MODULES(opencv REQUIRED opencv)
include_directories(${opencv_INCLUDE_DIRS})
link_directories(${opencv_LIBRARY_DIRS})
MESSAGE("${opencv_LIBRARY_DIRS}")
MESSAGE("${opencv_INCLUDE_DIRS}")

include_directories(/usr/include/pcl-1.7)
#link_directories(${pcl_LIBRARIES_DIRS})

include_directories(/usr/include/eigen3)

include_directories(/usr/include/vtk-5.8/)

set( CMAKE_CXX_FLAGS "-Wno-deprecated" ) # To disable warning

add_library(kinectPlugin SHARED ../kinectPlugin.cc)
target_link_libraries(kinectPlugin 
	libJderobotInterfaces.so
	libjderobotutil.so
	${GAZEBO_LIBRARIES}
	${OpenCV_LIBRARIES}
	Ice IceUtil)

Con este CMakeLists.txt consigo compilar un libkinectPlugin.so que añado al
path de mis librerias: 
export
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/dazuara/svn/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/build-independent

Ahora lanzo gazebo, que encuentra la librería, pero obtengo el siguiente
error:

Error [Plugin.hh:127] Failed to load plugin libkinectPlugin.so:
/home/dazuara/svn/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/build-independent/libkinectPlugin.so:
undefined symbol:
_ZN3pcl7PCLBaseINS_12PointXYZRGBAEE13setInputCloudERKN5boost10shared_ptrIKNS_10PointCloudIS1_EEEE

Me imagino que es problema de las librerias que asigno en el CMakeLists.txt,
alguien me ayuda???

Un saludo.



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