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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 Hydro

You need to install each of these things in order. First, make the workspace:

mkdir ~/matbag_ws && cd ~/matbag_ws

Boost

Download and unpack the latest version of Boost and go to that directory.

./bootstrap.sh
./b2 cxxflags='-fPIC' --build-dir=build --with-regex --with-system \
  --with-filesystem --with-program_options --with-date_time --with-thread \
  --with-signals link=static --prefix=$HOME/matbag_ws/install/ install

To compile things with multiple processors, add the flag -jNUM_PROCESSORS

bz2

Add -fPIC to the CFLAGS line in the Makefile.

make install PREFIX=$HOME/matbag_ws/install

ROS

Install rosinstall_generator and wstool for ROS.

Generate install file and download necessary packages

rosinstall_generator --rosdistro hydro rosbag_storage tf2 --deps --wet-only --tar > matbag.rosinstall
wstool init -j8 src matbag.rosinstall
git clone -b hydro-devel https://github.com/bcharrow/matlab_rosbag.git src/matlab_rosbag
rosdep install --from-paths src --ignore-src --rosdistro hydro -y

Next we need to compile. Set ROSCONSOLE_SEVERITY_NONE, so we don't need to build log4cxx or any of its dependencies and use the downloaded version of boost and bz2 as opposed to the system's version.

./src/catkin/bin/catkin_make_isolated --merge --install --install-space install --cmake-args \
  -DBUILD_SHARED_LIBS=false \
  -DCMAKE_CXX_FLAGS=-fPIC \
  -DCMAKE_BUILD_TYPE=RelWithDebInfo \
  -DBoost_NO_SYSTEM_PATHS=ON \
  -DBOOST_ROOT=$(pwd)/install \
  -DBZIP2_INCLUDE_DIR=~/matbag_ws/install/include/ \
  -DBZIP2_LIBRARIES=~/matbag_ws/install/lib/libbz2a

matlab_rosbag

Now use the mex_compile.sh build script

cd ~/matbag_ws/src/matlab_rosbag/src
bash mex_compile.sh

Using ROS Groovy

You need to install each of these things in order. First, make the workspace:

mkdir ~/matbag_ws && cd ~/matbag_ws

Boost

Download and unpack the latest version of Boost and go to that directory.

./bootstrap.sh
./b2 cxxflags='-fPIC' --build-dir=build --with-regex --with-system \
  --with-filesystem --with-program_options --with-date_time --with-thread \
  --with-signals link=static --prefix=$HOME/matbag_ws/install/ install

To compile things with multiple processors, add the flag -jNUM_PROCESSORS

bz2

Add -fPIC to the CFLAGS line in the Makefile.

make install PREFIX=$HOME/matbag_ws/install

ROS

Install the rosinstall_generator package for ROS.

Generate install file and download necessary packages

rosinstall_generator --rosdistro groovy --deps rosbag tf2 tf > 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)

set(Boost_NO_SYSTEM_PATHS ON)
set(BOOST_ROOT "${CMAKE_SOURCE_DIR}/../install")

By compiling out logging with ROSCONSOLE_SEVERITY_NONE, we don't need to build log4cxx or any of its dependencies. Also, we're using the downloaded version of boost and not the system's version. To build everything:

src/catkin/bin/catkin_make 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 stage
 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