Disable multi-arch for catkin

[matlabbe]

There is still installation issues with multi-arch on fresh Kinetic system: http://official-rtab-map-forum.206.s1.nabble.com/Problem-while-running-RTAB-Map-installed-from-ROS-tp1530.html

A way to fix it would be to disable INCLUDE(GNUInstallDirs) or uncomment

# Catkin doesn't support multiarch library path, 
# fix to "lib" if not set by user.
#IF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
#   set(CMAKE_INSTALL_LIBDIR "lib")
#ENDIF(NOT DEFINED CMAKE_INSTALL_LIBDIR)

To detect catkin, this could be done like in find-object:

# Detect if it is called by catkin
IF(CATKIN_TOPLEVEL OR CATKIN_BUILD_BINARY_PACKAGE OR CATKIN_SKIP_TESTING OR CATKIN_ENABLE_TESTING)
  SET(CATKIN_BUILD TRUE)
ENDIF(CATKIN_TOPLEVEL OR CATKIN_BUILD_BINARY_PACKAGE OR CATKIN_SKIP_TESTING OR CATKIN_ENABLE_TESTING)

[matlabbe]

Seems not working: http://build.ros.org/job/Kbin_uW64__rtabmap__ubuntu_wily_amd64__binary/14/console

14:56:00 -- Info :
14:56:00 --   Version : 0.11.8
14:56:00 --   CMAKE_INSTALL_PREFIX = /opt/ros/kinetic
14:56:00 --   CMAKE_BUILD_TYPE =     None
14:56:00 --   CMAKE_INSTALL_LIBDIR = lib/x86_64-linux-gnu
14:56:00 --   BUILD_APP =            ON
14:56:00 --   BUILD_TOOLS =          ON
...

[willdzeng]

I fixed this by deleting all the files in lib/x84_64-linux-gnu.
Also this can be fixed by doing a make uninstall in the old build folder.
And sudo ldconfig
Maybe do a auto uninstall before install library?

[matlabbe]

I did a fast test on a Virtual machine with 16.04/kinetic.

When doing cmake when building from source, CMAKE_INSTALL_LIBDIR = lib. Not sure why on the ros buildfarm it is with x86_64-linux-gnu.

I also tested kinetic ros binaries. The rtabmap_ros launch files can be started without problem (even if the libraries are installed in /opt/ros/kinetic/lib/x86_64-linux-gnu).

I'll set this bug as fixed as the not found library error is not reproductible.

More info:

$ env | grep kinetic
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share:/opt/ros/kinetic/stacks
LD_LIBRARY_PATH=/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu
PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
ROS_DISTRO=kinetic
PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages
PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
CMAKE_PREFIX_PATH=/opt/ros/kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

/opt/ros/kinetic/lib/x86_64-linux-gnu is already added from sourcing /opt/ros/kinetic/setup.bash.

From included /opt/ros/kinetic/_setup_util.py:

# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
    'CMAKE_PREFIX_PATH': '',
    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
    'PATH': 'bin',
    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
    'PYTHONPATH': 'lib/python2.7/dist-packages',
}