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Rosbuild: How to use ViSP from Subversion repository rather than the last release

Using ViSP trunk

visp package is a ROS wrapper over ViSP library. This package downloads and build ViSP lastest release. This tutorial explains how to use rather the current in development version of ViSP available from Subversion repository.

We suppose now that visp package was downloaded.

roscd visp

ViSP Subversion repository is available from Inria GForge.

To use the current version from trunk, you may modify the visp/Makefile file like this:

all: visp

SVN_DIR     = ViSP-trunk
SVN_URL     = svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP
BUILD_DIR   = ViSP-build
include $(shell rospack find mk)/svn_checkout.mk

INSTALL_DIR = install

# Gdk include path is required for Fedora 15.
CMAKE_CXX_FLAGS=-DNDEBUG -march=native -O3 -g `pkg-config --cflags gtk+-2.0`

CMAKE_FLAGS = -DCMAKE_INSTALL_PREFIX=`rospack find visp`/$(INSTALL_DIR)/ \
              -DCMAKE_CXX_FLAGS:STRING="$(CMAKE_CXX_FLAGS)"              \
              -DBUILD_DEMOS=OFF -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF \
              -DBUILD_SHARED_LIBS=ON -DBUILD_DEPRECATED=ON               \
              -DUSE_DC1394_1=OFF -DUSE_FFMPEG=OFF                        \
              -DUSE_DC1394_2=ON -DUSE_V4L2=ON -DUSE_OPENCV=ON            \
              -DUSE_COIN_SIMULATOR=ON -DUSE_LAPACK=ON -DUSE_GSL=OFF      \
              -DUSE_XML2=ON -DUSE_GTK2=ON -DUSE_LIBJPEG=ON               \
              -DUSE_LIBPNG=ON -DUSE_LIBPLOTTER=ON                        \
              -DDESIRED_QT_VERSION=4                                     \
              -DOpenCV_DIR=`rospack find opencv2`/opencv                 \
              -DBOOST_ROOT=`rosboost-cfg --root`

visp: $(INSTALL_DIR)/installed

$(INSTALL_DIR)/installed: $(SVN_DIR)
        mkdir -p $(BUILD_DIR)                    \
        && cd $(BUILD_DIR)                       \
        && cmake ../$(SVN_DIR) ${CMAKE_FLAGS}    \
        && make -j 8                             \
        && make -j 8 install
        touch $(INSTALL_DIR)/installed

clean:
        rm -rf $(INSTALL_DIR)

wipe: clean
        rm -rf $(BUILD_DIR)

To build visp package just run:

make wipe
rosdep install visp
rosmake visp