From owner-freebsd-ports@FreeBSD.ORG Sat Sep 18 23:00:04 2010 Return-Path: Delivered-To: freebsd-ports@freebsd.org Received: from mx1.freebsd.org (mx1.freebsd.org [IPv6:2001:4f8:fff6::34]) by hub.freebsd.org (Postfix) with ESMTP id 29C0B106566C for ; Sat, 18 Sep 2010 23:00:04 +0000 (UTC) (envelope-from r.c.ladan@gmail.com) Received: from mail-ew0-f54.google.com (mail-ew0-f54.google.com [209.85.215.54]) by mx1.freebsd.org (Postfix) with ESMTP id A06B58FC0A for ; Sat, 18 Sep 2010 23:00:03 +0000 (UTC) Received: by ewy22 with SMTP id 22so1640666ewy.13 for ; Sat, 18 Sep 2010 16:00:02 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=gamma; h=domainkey-signature:received:received:sender:message-id:date:from :organization:user-agent:mime-version:to:subject:x-enigmail-version :content-type:content-transfer-encoding; bh=grUkDPdCOgeJXZ/gv4I1kIThYVz3Ar4OzkjsJu208Z8=; b=mGLnjlgoKVFuB37fKtwE9rXOUFy9zOjRD9TcuEJvphfoPNX5SWVTxJFX93VApAwnuE y7ujca4CGG5TECuly9izLnDSASOgB0HdSlH5H+CJ/LEvDtUjIUa8Qa1h4YG2x8sW0rME i+q8RYq4CiLipELvgjvFRqAgF8q7q22r6xuBQ= DomainKey-Signature: a=rsa-sha1; c=nofws; d=gmail.com; s=gamma; h=sender:message-id:date:from:organization:user-agent:mime-version:to :subject:x-enigmail-version:content-type:content-transfer-encoding; b=eO4wI2+aSSsRMkz0kJZvhJJsIiDazOd522YMHRS7B8H29k07XKh6FoxzLq1YLLhKP2 TK8j4t5ENhLvtFlY+qYWb5Z44gtc65d85VRFjU2YdqOCrWXMr5UhMkDSFy2+KiKaumRO mG2KQi1tgXJ1hLNZCQ5jdSpwqCd/Zqzy6PNV8= Received: by 10.213.34.209 with SMTP id m17mr1312193ebd.37.1284850801450; Sat, 18 Sep 2010 16:00:01 -0700 (PDT) Received: from [192.168.123.167] (136-206-ftth.onsbrabantnet.nl [88.159.206.136]) by mx.google.com with ESMTPS id v8sm8243571eeh.8.2010.09.18.16.00.00 (version=TLSv1/SSLv3 cipher=RC4-MD5); Sat, 18 Sep 2010 16:00:00 -0700 (PDT) Sender: =?UTF-8?Q?Ren=C3=A9_Ladan?= Message-ID: <4C954470.5020502@freebsd.org> Date: Sun, 19 Sep 2010 01:00:00 +0200 From: Rene Ladan Organization: The FreeBSD Project User-Agent: Mozilla/5.0 (X11; U; FreeBSD amd64; nl-NL; rv:1.9.2.9) Gecko/20100909 Thunderbird/3.1.3 MIME-Version: 1.0 To: ros-users@code.ros.org, freebsd ports X-Enigmail-Version: 1.1.2 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Cc: Subject: [ros-users] [freebsd] Installing ROS on FreeBSD X-BeenThere: freebsd-ports@freebsd.org X-Mailman-Version: 2.1.5 Precedence: list List-Id: Porting software to FreeBSD List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Sat, 18 Sep 2010 23:00:04 -0000 Hi all, I have written a port for ROS (http://www.ros.org/) on FreeBSD [1]. It builds and runs fine (from the build directory, i.e. ros/work/ros) after setting up the environment as shown on the wiki page at http://www.ros.org/wiki/cturtle/Installation/FreeBSD . The tutorial which moves the turtle using the keyboard also works. So far so good. When installing the port, several issues arise: (a) some executables (e.g. rospack) and libraries hard-code the path to some libraries they use, resulting in "cannot find library X" errors. This can be seen when running ldd on these files. This seems to make it harder to install these files in a different location (PREFIX, e.g. /usr/local) than where they were built. How is this handled in the Ubuntu packages? (b) The file layout of ROS and FreeBSD (packages) differ for various reasons. The file layout for FreeBSD is described in [2]. The file layout of ROS is shown in the pkg-plist file in [1], with the exception that I intend to move the files in ros/bin to PREFIX/bin (does not work without symbolic links) and the *.so files which are not in 3rdparty into PREFIX/lib (but see (a) ). I was also thinking about moving the header files to PREFIX/include, but that will not work because the compiler does not look into /usr/local/include by default and nothing in ROS nor FreeBSD tells it to look there. The above seems a reasonable compromise to me. Comments / objections / ideas are welcome. Given the generic nature of the port, I am thinking of putting it in the devel category. Rene [1] ftp://rene-ladan.nl/pub/freebsd/ros-1.2.1.tbz SIZE = 21755 bytes SHA256 = 1d4d0d235ca45d51c0a155774ec927518658ca04a68a83d300b87b70c5f467a7 [2] http://www.freebsd.org/cgi/man.cgi?query=hier&sektion=7 -- http://www.rene-ladan.nl/ GPG fingerprint = ADBC ECCD EB5F A6B4 549F 600D 8C9E 647A E564 2BFC (subkeys.pgp.net)