find_package(grl), ${grl_LIBRARIES}

[tdinesh]

I would like to link GRL libraries to a catkin package. grlflatbuffers targets does not get installed currently in /opt/grl/lib. I would like to have ${grl_LIBRARIES} be set for cmake. Could you point me where to set the basis install targets.

[ahundt]

I suggest using cmake -DCMAKE_INSTALL_PREFIX="/usr/local" (in addition to the other build script parameters) to set it to install the project config files. Then run make install to install the grlConfig.cmake into /usr/local/lib/cmake/grl. You should see something like:

± ls /usr/local/lib/cmake/grl
grlConfig.cmake         grlExports.cmake          grlInstallManifest.txt  grlUse.cmake
grlConfigVersion.cmake  grlExports-release.cmake  grlUninstall.cmake

[tdinesh]

Somehow it still does not set the correct includes. /usr/local/include/grl/kuka/KukaFRIdriver.hpp:22:27: fatal error: friClientData.h: No such file or directory

[ahundt]

oh... I see the export install/public interface flags will need to be added to the FRI cmake script, and we will need to make sure the headers are installed to an appropriate location. This should be a fairly easy fix via cmake-basis or some standard cmake code. I just think most users went with ros messages or the vrep api up until now which doesn't require the includes.

This is the relevant include spec component: https://cmake.org/cmake/help/v3.6/command/target_include_directories.html

Are the missing headers actually installed somewhere in /usr/local/include?

If not an install line for the relevant headers will need to be added as well. Nothing too complex but will involve some cmake code tweaks.

[ahundt]

The above plus this function:

    basis_install_directory(FRI_Client_SDK_Cpp/src/protobuf_gen)

https://cmake-basis.github.io/apidoc/modules.html

It may also be worthwhile to create a quick issue on the cmake-basis github page https://github.com/cmake-basis/BASIS/issues

maybe this one in particular: https://github.com/cmake-basis/BASIS/issues/339

[tdinesh]

The missing headers are not installed in /usr/local/include.

[ahundt]

Aha, so the super temporary fix would be to literally copy-paste the files there (or some other appropriate included directory). In the meantime we can work out the cmake patch that permanently fixes it.

[ahundt]

created new basis issue about this: https://github.com/cmake-basis/BASIS/issues/621

[tdinesh]

Thanks for creating the issue.

After manually including the directories of missing files now I get linker error.

In function grl::robot::arm::decode(KUKA::FRI::ClientData&, unsigned long)': main.cpp:(.text+0x83b): undefined reference to KUKA::FRI::MonitoringMessageDecoder::decode(char*, int)' collect2: error: ld returned 1 exit status

[ahundt]

yeah you will need to link the FRI libraries and the protobufc that are compiled by the hyperlinked cmake file as well.

[ahundt]

This is the cmake file I'm speaking of: https://github.com/ahundt/grl/blob/master/config/FRI_Client_SDK_Cpp.cmake

[ahundt]

so the libraries will be: KukaFRIClient friUdpConnection nanopb

Which should at least be in the build folder, and hopefully we can patch things to put it in the install lib/include folders as well.

[tdinesh]

${grl_LIBRARIES} is empty. All libs except friUdpConnection are in /usr/local/lib/grl.

[jacknlliu]

I hope to use the grl in ROS project, but just using find package grl is not enough.

find_package(grl)

I get the following errors from cmake:

undefined reference to `KUKA::FRI::MonitoringMessageDecoder::decode(char*, int)'

[ahundt]

It looks like flatbuffers isn’t running correctly to generate that code. Check that the flatbuffers generator is being run

On Mon, Aug 26, 2019 at 9:06 AM Jack Liu [email protected] wrote:

I hope to use the grl in ROS project, but just using find package grl is not enough.

find_package(grl)

I get the following errors from cmake:

undefined reference to `KUKA::FRI::MonitoringMessageDecoder::decode(char*, int)'

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Cheers! Andrew Hundt