Setting up Toolchain/CMake for own Project

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Michael Sägesser

Hello

I am currently trying to write my own program using the OSDK API. I started off by coding a hello_osdk program which should just initiate a vehicle check connection and the quit.

See my code below:

#include <dji_linux_helpers.hpp>

int main(int argc, char **argv)
{
    /*! Setup the OSDK: Read config file, create vehicle, activate. */
    LinuxSetup linuxEnvironment(argc, argv);
    Vehicle *vehicle = linuxEnvironment.getVehicle();
    if (vehicle == NULL)
    {
        DERROR("Vehicle not initialized, exiting.");
        return -1;
    }

    return 0;
}

In order to set up the CMakeLists.txt I followed your instructions under https://developer.dji.com/onboard-sdk/documentation/quickstart/integrateOSDK.html on how to set up the CMake file.

My programm is located under /home/my_user/Projects/HelloOSDK while the Onboard-SDK is located under /home/my_user/Onboard-SDK. I modified the ONBOARD_SOURCE and SOURCE_FILES accordingly. Sadly I could not build my project successfully. I then followed the instructions from Hepan02 in https://github.com/dji-sdk/Onboard-SDK/issues/770.

With this configurations I was able to build my project. As I tried to execute it I got the following error message:

"Read App ID

User Configuration read successfully. 

malloc(): invalid size (unsorted)
Aborted"

In a next step i copied my .cpp to ~/Onboard-SDK/sample/platform/linux/payloads and added it as target (add_executable) in the CMakeLists.txt in said folder. I then rebuilt the whole OSDK examples. This time I could run my programm without errors and got the drone infos I was expecting.

I then compared the dependencies  by plotting them.

If I build it in your example folder with your CMake structure I got the following dependency-tree:

If I build it with the example from https://github.com/dji-sdk/Onboard-SDK/issues/770

I get the following tree:

What am I missing? Is it possible to provide a clean CMakeList.txt example to build a project which source is saved outside the Onboard-SDK folder?

I am working on a Debian distribution with armv7 architecture and I am using gcc and g++ version 9 and CMake version 3.0.

Thank you in advance

Sincerely Michael

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