ROS Hydro comes with OMPL 0.13.0. I want to use OMPL 1.0.0. For this project, **I'm using OMPL on its own; I'm not trying to change the one used by MoveIt, only the one used by my program.** How do I set it up such that the line:
find_package(OMPL REQUIRED)
in my `CMakeLists.txt` will find the version of OMPL at `/usr/local` and not the one at `/opt/ros/hydro`?
As suggested by `/opt/ros/hydro/share/ompl/ompl-config.cmake`, I tried:
$ catkin_make -DOMPL_PREFIX="/usr/local"
But that didn't seem to work at all. I even output a message to ensure the variable *was* set:
-- +++ processing catkin package: 'sgpp'
-- ==> add_subdirectory(sampled-gradient-path-planning/sgpp)
CMake Warning at sampled-gradient-path-planning/sgpp/CMakeLists.txt:6 (message):
OMPL prefix is: /usr/local
-- Using these message generators: gencpp;genlisp;genpy
-- Found MATLAB: /usr/local/MATLAB/R2014a/bin/matlab
-- Found OMPL: /opt/ros/hydro/lib/libompl.so
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ntraft/Development/catkin_ws/build
Notice the line `Found OMPL: /opt/ros/hydro/lib/libompl.so`
**Edit:** Hmm, should I instead be looking into how to build the ompl ROS package and use workspace overlaying?? But then that would change the version of OMPL for the whole system, rather than just my program... right?
↧