Make odom child frame parameterizable + some CMake

[jmirabel]

The install path change is related to 576bf36#r38313060

[jmirabel]

Please, don't merge as this is WIP.

[jmirabel]

This is not WIP anymore.

[jmirabel]

On packages that depends on this one, I now have

CMake Error at /home/jmirabel/devel/agimus/install/lib/cmake/dynamic_graph_bridge/dynamic_graph_bridgeTargets.cmake:132 (message):
  The imported target "dynamic_graph_bridge::geometric_simu" references the
  file

     "/home/jmirabel/devel/agimus/install/bin/geometric_simu"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/home/jmirabel/devel/agimus/install/lib/cmake/dynamic_graph_bridge/dynamic_graph_bridgeTargets.cmake"

  but not all the files it references.

@nim65s Do you know how to fix that ?

[nim65s]

In dynamic_graph_bridgeTargets.cmake I have:

# Create imported target dynamic_graph_bridge::geometric_simu
add_executable(dynamic_graph_bridge::geometric_simu IMPORTED)

Looking at the doc, I guess we have to specify the IMPORTED_LOCATION for this target.

But do you know why ROS wants the binaries to go to share instead of bin ?

[jmirabel]

Looking at the doc, I guess we have to specify the IMPORTED_LOCATION for this target.

I tried but couldn't get this to work.

But do you know why ROS wants the binaries to go to share instead of bin ?

I think by default, the binaries are installed in lib/package/... but it is also possible to install them in share. I think they do this because they want users to launch them using rosrun. In our case, launch geometric_simu outside ROS does not make much sense. I don't even know if it works.

[jmirabel]

@nim65s At the moment, the target geometric_simu isn't used outside of the project. Do you mind if I remove the export and leave it to you to make the export work ? i can open an issue to leave a reminder.

[nim65s]

Sure, go ahead :)

[nim65s]

You will just have to provide a way to reproduce your issue :)

[olivier-stasse]

In ROS a binary executable_name is suppose to go in :

${CMAKE_INSTALL_PREFIX}/lib/package_name/extecutable_name

To make it available outside the ROS real, I either copy or create a link to binary in:

${CMAKE_INSTALL_PREFIX}/bin

[jmirabel]

To make it available outside the ROS real, I either copy or create a link to binary in:

${CMAKE_INSTALL_PREFIX}/bin

This does not make sense for geometric_simu

[jmirabel]

I updated the PR accordingly and opened #70, though I don't think we should care about exporting executables.

[nim65s]

I don't think we should care about anything as long as it's not required. And here, the export is not required for anything (yet).

But for the sport, I'd like to understand how to solve #70 :)

[olivier-stasse]

Out of curiosity: was the export creating a bug ?

[jmirabel]

Out of curiosity: was the export creating a bug ?

Have a look at #70.