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COMPILING.md

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Overview

In order to compile rosbag_wrapper into a mex function so that it can be used on a machine without ROS we need to statically compile all of the libraries that the C++ ROS bag API depends on. To make things harder, mex files are shared object files and so each statically linked library must have been compiled with the -fPIC flag. See this page for a description of -fPIC.

Even if you only want to compile code for your machine, Matlab comes with its own version of several libraries used by ROS -- most notably Boost -- and these versions may be incompatible with your system version. So, you'll either need to statically compile boost, or compile and link against the version that Matlab uses.

Using ROS Groovy

Generate install file and download necessary packages

mkdir ~/matbag_ws && cd ~/matbag_ws
wget http://packages.ros.org/web/rosinstall/generate/raw/groovy/rosbag -O base.rosinstall
rosinstall --catkin -n src base.rosinstall
rm src/CMakeLists.txt
src/catkin/bin/catkin_init_workspace src

Modify src/CMakeLists.txt so that the lines after cmake_minimum_required() are:

set(BUILD_SHARED_LIBS false)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_BUILD_TYPE RelWithDebInfo)
add_definitions(-DROSCONSOLE_MIN_SEVERITY=ROSCONSOLE_SEVERITY_NONE)

By compiling out logging with ROSCONSOLE_SEVERITY_NONE, we don't need to build log4cxx or any of its dependencies. Now build the ROS libraries.

./catkin/bin/catkin_make

All of the libraries should now be in matbag_ws/install/lib

Boost

./bjam cxxflags='-fPIC'  --build-dir=mybuild --with-regex --with-system \
  --stagedir=$HOME/matab_ws/install/ link=static stage

bz2

Add -fPIC to the CFLAGS line in the Makefile.

make install PREFIX=$HOME/matbag_ws/install

matlab_rosbag

Clone the repository and use the mex_compile.sh build script

cd ~/matbag_ws/src
git clone git://github.com/bcharrow/matlab_rosbag.git
cd matlab_rosbag/src
bash mex_compile.sh

Using ROS Electric

ROS libraries

You'll need to compile static libraries for the following packages:

rosbag rosconsole rostime roscpp_serialization roscpp

To compile static libraries go to a package's build folder and enter:

cmake .. -DROS_BUILD_STATIC_LIBS:=true && make

Now check in ../lib and copy the static version of the library to LIB_DIR. where LIB_DIR is a directory where you will put all of the static libraries.

Boost

./bootstrap.sh
./bjam cxxflags='-fPIC'  --build-dir=mybuild \
    --with-regex --with-thread --with-signals --with-filesystem \  
    --with-system link=static stag
 cp stage/lib/* LIB_DIR

bz2

expat

CFLAGS=-fPIC ./configure --prefix=$(pwd)/install
make
make install
cp install/lib/libexpt.a LIB_DIR

APR

CFLAGS=-fPIC ./configure --prefix=$(pwd)/install
make
make install
cp .libs/libapr-1.a LIB_DIR

APR-iconv

IMPORTANT: On OS X I had to compile the APR implementation of iconv() and compile apr-util against that. On Ubuntu 11.10, I didn't have to do this.

CFLAGS=-fPIC ./configure --with-apr=../apr-1.4.6/ --prefix=$(pwd)/install
make
make install
cp lib/.libs/libapriconv-1.a LIB_DIR

APR-util

CFLAGS=-fPIC ./configure \ 
             --with-iconv=../apr-iconv-1.2.1/install \ 
             --with-apr=../apr-1.4.6/install \                   
             --with-expat=../expat-2.1.0/install
make
cp .libs/libapr-1.a LIB_DIR

log4cxx

CFLAGS=-fPIC ./configure --prefix=$(pwd)/install \ 
    --with-apr=../apr-1.4.6/install \
    --with-apr-util=../apr-util-1.5.1/install
make
make install
cp install/lib/liblog4cxx.a LIB_DIR