Remove dependency of libboost-python from libeigenpy.sp

[jviereck]

This issue is about supporting python2 and python3 installation of eigenpy.

When compiling and installing eigenpy, there are two libraries installed (assuming prefix=/opt/openrobots here):

• /opt/openrobots/libs/libeigenpy.so
• /opt/openrobots/lib/python3.5/site-packages/eigenpy.so

Note that the first one has a dependency on the libboost_python lib, in my example

$ ldd libeigenpy.so 
	linux-vdso.so.1 =>  (0x00007fffecf99000)
	libboost_python-py35.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_python-py35.so.1.58.0 (0x00007f3e4e3c4000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f3e4e042000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f3e4dd39000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f3e4db23000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f3e4d759000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f3e4d53c000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f3e4e8ca000)

(note the second line).

This dependency on libboost_python from libeigenpy.so creates troubles when trying to install eigenpy for python2 and python3 at the same time in the same folder.

As a workaround, I started to use a /opt/openrobots and /opt/openrobots_py35 folder to separate the two installations of eigenpy. However I am wondering if there is a more proper way to resolve this issue and wanted to report this in case someone else comes along the same issue.

[jcarpent]

In fact, we should have two separate libraries. One for python2 and the one for python3 in /opt/openrobots/libs. Which means that we just need to add an extended name for each lib according to the version of Python.

[jcarpent]

Solved by #57