The Mobile Robot Programming Toolkit

Hi Jan,

>The problem is that we have to use a closed source API to communicate with this laserscanner and thus our MRPT driver needs
> a couple libraries (which are not in my systems libpath) for the linker to work properly, but I have no idea as to where the
>intended place for adding these is in the makefiles. Can you hint me to the right place?

I assume you are modifying the lib mrpt-hwdrivers to add your new driver/class, right? Then, take a look at the file MRPT/libs/hwdrivers/CMakeLists.txt.
That's where you should add the required extra libs to link against. There're already examples, like in the part of that file dealing with ARIA, you can see:

TARGET_LINK_LIBRARIES(mrpt-hwdrivers dl)

Instead of dl (libdl.so), just add other TARGET_LINK_LIBRARIES statements for your dependencies. The same applies to INCLUDE_DIRS, etc... The key is to modify just that CMakeLists.txt file, so the changes only apply to mrpt-hwdrivers and not the rest of MRPT.

>Also I'd be interested in more in-depth developer documentation than provided by this webpage.

Unfortunately, this web + Doxygen refs + the incipient mrpt-book are all the existing documentation... Someday I'll keep on completing the mrpt-book, if someday I'll find the free time needed for it!! :-)

Best,
JL

Hi,

as I said earlier my partner and me are using external closed source libs we can't change and probably are not allowed to hand out, so we need to make the framework work with them.

Right now compiling fails in the middle of a definition of 'ParamType' in the header of the closed source API:

[ 91%] Building CXX object apps/GridmapNavSimul/CMakeFiles/GridmapNavSimul.dir/gridmapSimulMain.cpp.o
In file included from /home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Configurable.hpp:17,
from /home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Device.hpp:14,
from /home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Laserscanner.hpp:14,
from /home/jan/Dokumente/uni/TAMS DA/svn_neu/trunk/mrpt-0.9.0/libs/hwdrivers/include/mrpt/hwdrivers/CIbeo3D.h:31,
from /home/jan/Dokumente/uni/TAMS DA/svn_neu/trunk/mrpt-0.9.0/libs/hwdrivers/include/mrpt/hwdrivers.h:44,
from /home/jan/Dokumente/uni/TAMS DA/svn_neu/trunk/mrpt-0.9.0/apps/GridmapNavSimul/gridmapSimulMain.cpp:105:
/home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Param.hpp:168: error: expected identifier before ‘int’
/home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Param.hpp:168: error: expected ‘}’ before ‘int’
/home/jan/Dokumente/uni/TAMS DA/Ibeo API/MerkurAPI-2.9.0-r26055-Linux/include/IbeoAPI/Param.hpp:168: error: expected unqualified-id before ‘,’ token

The code where it fails:

44 namespace ibeo
[…]
141 class IBEOAPIDECL Param
142 {
143 public:
[…]
165 enum ParamType
166 {
167 NotSet, ///< Parameter type has not been set yet
168 Bool, ///< Parameter type Boolean
169 String, ///< Parameter type string, enclosed in double-quotes
[…]
194 };

I checked the source of MRPT and found the same name used in the gtest module. Right now I assume the compiling problem to be in this double definition here. But I don't know how and where to change the framework to get around this.

otherlibs/gtest-1.5.0/fused-src/gtest/gtest.h: typedef T ParamType;
otherlibs/gtest-1.5.0/fused-src/gtest/gtest.h: typedef typename TestClass::ParamType ParamType;
otherlibs/gtest-1.5.0/fused-src/gtest/gtest.h: explicit ParameterizedTestFactory(ParamType parameter) :
otherlibs/gtest-1.5.0/fused-src/gtest/gtest.h: const ParamType parameter_;
otherlibs/gtest-1.5.0/fused-src/gtest/gtest.h:template

Any help in separating the external dependencies from the framework and to make our driver work would be appreciated.

Thanks
Jan

I put the vendor includes in my .cpp file and changed my code a little und now it works.

Thanks
Jan