Error configuring (cmake) SofaROSConnector

[BrunoB81HK]

When I try to configure Sofa from source and I add the SofaROSConnector plugins, I get the following error :

ROS_ROOT: C:/opt/ros/melodic/x64
ROS_INCLUDE_DIR: C:/opt/ros/melodic/x64/include
ROS libraries: roslib -- C:/opt/ros/melodic/x64/lib; roscpp -- C:/opt/ros/melodic/x64/lib/roscpp.lib; cpp_common -- C:/opt/ros/melodic/x64/lib/cpp_common.lib; rostime -- C:/opt/ros/melodic/x64/lib/rostime.lib; rosconsole -- C:/opt/ros/melodic/x64/lib/rosconsole.lib
ROS found: TRUE
CMake Error at D:/Program Files/CMake/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find Boost (missing: signals) (found version "1.72.0")
Call Stack (most recent call first):
  D:/Program Files/CMake/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  D:/Program Files/CMake/share/cmake-3.16/Modules/FindBoost.cmake:2179 (find_package_handle_standard_args)
  D:/Program Files/SOFA/ext_plugins/SofaROSConnector/ZyROSConnector/CMakeLists.txt:69 (find_package)

I don’t know how I can solve it, can somebody help?

Bruno

[Hugo]

Hi @brunob81hk

it seems your CMake is finding a boost version, but not the one expected.
It is strange, I did not notice any requirement regarding the boost version in ROSConnector. Would this be due to the FindBoostCMake?
Have you maybe solved the issue since then?

Best,

Hugo

[BrunoB81HK]

Hi @hugo,

I haven’t solved this issue yet. I think the error might be related to the fact that SafoROSConnector is written to work with an earlier version of boost. I think signals has been replaced with signals2.

Is there anything I should do with FindBoostCMake?

Thanks for your help!

Bruno

[Hugo]

Hi @brunob81hk

Which version of SOFA are you using with this ROS plugin?
How are you compiling the ROS plugin: using the EXTERNAL_DIR CMake variable in SOFA, or compiling it out of tree?

Hugo

[BrunoB81HK]

I’m using the master version.

The install procedure is special for this one. It require us to git submodule add the plugin and its dependencies in applications\plugins :

`shell
git submodule add https://github.com/SofaDefrost/STLIB.git applications/plugins/STLIB
git submodule add https://github.com/faichele/SoftRobots.git applications/plugins/SoftRobots
git submodule add https://github.com/faichele/SofaROSConnector.git applications/plugins/SofaROSConnector
`

What I have done is that I used EXTERNAL_DIR for STLIB and SoftRobots, but I used git submodule add for SofaROSConnector since the cmake files kind of require it to be in this directory.

I hope it helps you,

Bruno

[Damien Marchal]

Hello Bruno,

In case compiling the SofaROSConnector plugin there is in SoftRobots a very simple example/library on how to connect ros with Sofa using pyros.

Damien.

[Hugo]

Hi @brunob81hk

I hope you are doing great. What’s up with ROS, were you able to achieve to connect SOFA and ROS? Using the SofaROSConnector plugin or the python lib?
I checked the CMakeLists line 69 does not seem to have the find_package referred in your error shell.

Looking forward to hearing from you Bruno.
Best wishes,

Hugo

[Author]

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