Difficulties with shared libraries and improved ifopt_snopt CMake about ifopt HOT 4 CLOSED

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Hi alex,

Thanks for raising this issue. Can you please try to use
add_compile_options(-std=c++11 -fPIC)
here:

Please let me know if this works.
Best
Alex

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I attempted that fix, but the problem persists. Here is the output:

'''
Linking CXX shared library /home/alex/gitprojects/untrusted_maps_planner/catkin_ws/devel/lib/libifopt_snopt.so
/usr/bin/ld: /home/alex/software/snopt_lib/lib/libsnopt7_cpp.a(snoptProblem.o): relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a shared object; recompile with -fPIC
/home/alex/software/snopt_lib/lib/libsnopt7_cpp.a: error adding symbols: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [/home/alex/gitprojects/untrusted_maps_planner/catkin_ws/devel/lib/libifopt_snopt.so] Error 1
make[1]: *** [ifopt/ifopt_snopt/CMakeFiles/ifopt_snopt.dir/all] Error 2
make: *** [all] Error 2
*** Failure: Exit code 2 ***

'''

The relevant CMakeLists look like this:

cmake_minimum_required(VERSION 2.8.3)
project(ifopt_snopt)

add_compile_options(-std=c++11 -fPIC)

find_package(catkin REQUIRED)
find_package(ifopt_core REQUIRED)
....
...

if(${SNOPT76})
 add_library(${PROJECT_NAME} src/snopt76_adapter.cc)
else()
 add_library(${PROJECT_NAME} src/snopt_adapter.cc)
endif()

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Hi @A-I-Ivanov
I just added quite some improvements (see #17) and would be curious if this fixes your issue. If you find time, could you kindly let me know? Thanks :)

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