依赖编译Foonathan memory

官网教程

$ cmake ..
$ cmake --build . --target install

编译生成的是，静态链接库。并且编译之后生成的相关文件存储在build文件夹下的install文件夹内。

如果安装这种情况，编译Fast-RTPS，将会出现找不到Foonathan memory的库文件。

--- stderr: fastrtps
CMake Error at CMakeLists.txt:215 (find_package):
  By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "foonathan_memory", but CMake did not find one.

  Could not find a package configuration file provided by "foonathan_memory"
  with any of the following names:

    foonathan_memoryConfig.cmake
    foonathan_memory-config.cmake

  Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or
  set "foonathan_memory_DIR" to a directory containing one of the above
  files.  If "foonathan_memory" provides a separate development package or
  SDK, be sure it has been installed.


make: *** [cmake_check_build_system] Error 1
---

question ONE

.....
[ 97%] Building C object src/cpp/CMakeFiles/fastrtps.dir/rtps/persistence/sqlite3.c.o
[ 97%] Building CXX object src/cpp/CMakeFiles/fastrtps.dir/utils/TimedConditionVariable.cpp.o
[ 98%] Building CXX object src/cpp/CMakeFiles/fastrtps.dir/transport/TCPChannelResourceSecure.cpp.o
[ 99%] Building CXX object src/cpp/CMakeFiles/fastrtps.dir/transport/TCPAcceptorSecure.cpp.o
[100%] Linking CXX shared library libfastrtps.so
/usr/bin/ld: /usr/local/lib/libfoonathan_memory-0.6.1.a(free_list.cpp.o): relocation R_X86_64_PC32 against symbol `_ZN9foonathan6memory6detail13list_get_nextEPv' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
src/cpp/CMakeFiles/fastrtps.dir/build.make:3557: recipe for target 'src/cpp/libfastrtps.so.1.9.0' failed
make[2]: *** [src/cpp/libfastrtps.so.1.9.0] Error 1
CMakeFiles/Makefile2:981: recipe for target 'src/cpp/CMakeFiles/fastrtps.dir/all' failed
make[1]: *** [src/cpp/CMakeFiles/fastrtps.dir/all] Error 2
Makefile:162: recipe for target 'all' failed
make: *** [all] Error 2

此处的错误，经过必应搜索，是编译生成的动态库用到了已经生成的静态库文件，这种用法是错误的。我们应该将libfoonathan_memory-0.6.1.a静态库 更换为 相应的动态库文件。

解决方案

在编译Foonathan memory时：
利用

$ cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON ..

取代

$ cmake ..

-DCMAKE_INSTALL_PREFIX=/usr/local指明的是安装路径