MobotWare has been updated, so this should only be a problem with older versions. The testing stopped at bayer2rgb, they may bee more problems thatt needs to be fixed in order to run an older version of MobotWare alongside ROS.

There are no plans for updating this page because of the new version of MobotWare, but we plan on leaving it as is.

First remove

libcv-dev
libhighgui

if you haven´t removed them, they will be removed automatically when you install ROS.

Then install ROS, when it is installed return here.

Execute these commands - Check you version of opencv to make sure you create the right links.

sudo ln -s /usr/include/opencv-2.3.1/opencv2 /usr/include/opencv2
sudo ln -s /usr/include/opencv-2.3.1/opencv /usr/include/opencv

Update

/usr/lib/pkgconfig/opencv-2-3-1.pc

so it look like this

# Package Information for pkg-config

prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1

Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
#Libs:  -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 -l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 -l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 -l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 -l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 -l${exec_prefix}/lib/libopencv_core.so.2.3.1
Libs: -L${exec_prefix}/lib -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d -lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml -lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

(This is only the first file that has to be updated. Try to find a solution so it can all be written in one file so you don´t have to change it.)

/aurobotserves/trunk/src/ulmsserver/makefile

Remove

   -lcxcore
   -lcv

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in ulmsserver makefile> LDFLAGS = -g3 -O0 -L../../lib -lurob4o -lugen4o -lumap4o -lcxcore -lcv -ldl -rdynamic \

1. lcurses -lreadline -lpng -liau_mat

</sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in ulmsserver makefile> LDFLAGS = -g3 -O0 -L../../lib -lurob4o -lugen4o -lumap4o -L/usr/lib `pkg-config opencv-2.3.1 –libs` -ldl -rdynamic \

1. lcurses -lreadline -lpng -liau_mat

#Removed because of ROS update: -lcxcore -lcv -lhighgui #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>

/aurobotserves/trunk/src/auclient/makefile

Remove

   -lcxcore
   -lcv
   -lhighgui

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in auclient makefile> LDFLAGS = -g3 -lcxcore -lcv -lhighgui \

1. L../../lib -lurob4o -lugen4o -lumap4o \

-lpng -ldl -rdynamic -lcurses -lreadline -lurob4o -liau_mat </sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in auclient makefile> LDFLAGS = -g3 -L/usr/lib `pkg-config opencv-2.3.1 –libs` \

1. L../../lib -lurob4o -lugen4o -lumap4o \

-lpng -ldl -rdynamic -lcurses -lreadline -lurob4o -liau_mat # extra preprocessor defines (mainly for module testcode) # change NO_USE_HIGHGUI to USE_HIGHGUI for X-display direct # if NO_USE_HIGHGUI, then -lhighgui may be removed from LDFLAGS

#Removed because of ROS update: -lcxcore -lcv -lhighgui #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>

/aurobotserves/trunk/utils/cameracalibrate/makefile

Remove

   -lcxcore
   -lcv
   -lhighgui

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in cameracalibrate makefile> LDFLAGS = -lcxcore -lcv -lhighgui </sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in cameracalibrate makefile> LDFLAGS = -L/usr/lib `pkg-config opencv-2.3.1 –libs` #Removed because of ROS update: -lcxcore -lcv -lhighgui #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>

/aurobotserves/trunk/utils/stereocalibrate/makefile

Remove

   -lcxcore
   -lcv
   -lhighgui

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in stereocalibrate makefile> LDFLAGS = -lcxcore -lcv -lhighgui </sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in stereocalibrate makefile> LDFLAGS = -L/usr/lib `pkg-config opencv-2.3.1 –libs` #Removed because of ROS update: -lcxcore -lcv -lhighgui #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>

/aurobotserves/trunk/utils/utmpose2kml/makefile

Remove

   -lcxcore

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in utmpose2kml makefile> LDFLAGS = -L../../lib -lugen4o -lcxcore -lexpat </sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in utmpose2kml makefile> LDFLAGS = -L../../lib -lugen4o -L/usr/lib `pkg-config opencv-2.3.1 –libs` -lexpat #Removed because of ROS update: -lcxcore #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>

There is some problem caused by ugen4 haven´t found it yet. Uncommented bayer2rgb from

.../utils/makefile

Here are the bayer2rgb makefile

/aurobotserves/trunk/utils/bayer2rgb/makefile

Remove

   -lcxcore

from the LDFLAGS <sxh java; highlight: [1]; title: Changes in bayer2rgb makefile> LDFLAGS = -lcxcore -lcv -lhighgui -L../../lib -lugen4o </sxh> Insert

-L/usr/lib `pkg-config opencv-2.3.1 --libs`

in LDFLAGS <sxh java; highlight: [1]; title: Changes in bayer2rgb makefile> LDFLAGS = -L/usr/lib `pkg-config opencv-2.3.1 –libs` -L../../lib -lugen4o #Removed because of ROS update: -lcxcore -lcv -lhighgui #Inserted because of ROS update: -L/usr/lib `pkg-config opencv-2.3.1 –libs` </sxh>