I'll try to describe this issue the best I can. I'm trying to catkin_make a multi-package c++ project, but I'm getting a couple linker issues when its trying to build executables for 2 of the packages.
The error:
forge/devel/lib/libforge_features.so: undefined reference to `ErrorClientKeeper::addError(ForgeError::Severity, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
collect2: error: ld returned 1 exit status
forge_feature_identification/CMakeFiles/feature_identification_service_node.dir/build.make:224: recipe for target '/home/brian-pc/forge/devel/lib/forge_feature_identification/feature_identification_service_node' failed
make[2]: *** [/home/brian-pc/forge/devel/lib/forge_feature_identification/feature_identification_service_node] Error 1
CMakeFiles/Makefile2:8322: recipe for target 'forge_feature_identification/CMakeFiles/feature_identification_service_node.dir/all' failed
make[1]: *** [forge_feature_identification/CMakeFiles/feature_identification_service_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/part_manager_node.dir/src/part.cpp.o: In function `Part::read(int)':
part.cpp:(.text+0x88f): undefined reference to `ErrorClientKeeper::addError(ForgeError::Severity, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
part.cpp:(.text+0x102b): undefined reference to `ErrorClientKeeper::addError(ForgeError::Severity, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
CMakeFiles/part_manager_node.dir/src/part.cpp.o: In function `Part::createFromTemplate(int)':
part.cpp:(.text+0x137d): undefined reference to `ErrorClientKeeper::addError(ForgeError::Severity, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
part.cpp:(.text+0x1a21): undefined reference to `ErrorClientKeeper::addError(ForgeError::Severity, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
collect2: error: ld returned 1 exit status
forge_part_manager/CMakeFiles/part_manager_node.dir/build.make:172: recipe for target '/home/brian-pc/forge/devel/lib/forge_part_manager/part_manager_node' failed
make[2]: *** [/home/brian-pc/forge/devel/lib/forge_part_manager/part_manager_node] Error 1
CMakeFiles/Makefile2:9105: recipe for target 'forge_part_manager/CMakeFiles/part_manager_node.dir/all' failed
make[1]: *** [forge_part_manager/CMakeFiles/part_manager_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
feature_identification_service_node and part_manager_node are the exes its trying to build. The function its trying to reference is a static function is a package called forge_errors declared in file error_client_keeper.h. Here is the header file for that:
#ifndef __ERROR_CLIENT_KEEPER_H_INCLUDED__
#define __ERROR_CLIENT_KEEPER_H_INCLUDED__
#include <ros/ros.h>
#include <forge_errors/Error.h>
#include <forge_errors/forge_error.h>
#include <forge_errors/alert_service.h>
#include <forge_errors/error_client.h>
class ErrorClientKeeper
{
public:
static bool addError(ForgeError err);
static bool addError(ForgeError::Severity severity, std::string msg, std::string caller = "", bool display = true);
private:
ErrorClientKeeper();
~ErrorClientKeeper(){};
};
#endif
The .cpp file:
#include <forge_errors/error_client_keeper.h>
bool addError(ForgeError err)
{
ros::NodeHandle nh;
ErrorClient client(nh);
bool success = client.addError(err);
ros::spinOnce();
return success;
}
bool addError(ForgeError::Severity severity, std::string msg, std::string caller = "", bool display = true)
{
ros::NodeHandle nh;
ErrorClient client(nh);
bool success = client.addError(severity, msg, caller, display);
ros::spinOnce();
return success;
}
forge error is a class also in the forge_errors package, in forge_error.h
Here's the feature_identification package's cmakelists.txt
cmake_minimum_required(VERSION 2.8.3)
project(forge_feature_identification)
find_package(catkin REQUIRED COMPONENTS
forge_msgs
forge_features
roscpp
rospy
actionlib
actionlib_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS
forge_msgs
forge_features
roscpp
rospy
actionlib
actionlib_msgs
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(
feature_identification_service_node
src/feature_identification_service_node.cpp
src/feature_identification_service.cpp
src/feature_identifier.cpp
src/seam_identifier.cpp
src/part_model_identifier.cpp
)
target_link_libraries(
feature_identification_service_node
${catkin_LIBRARIES}
)
add_dependencies(
feature_identification_service_node
${catkin_EXPORTED_TARGETS}
)
#############
## Install ##
#############
# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
Here's part_manager_node's cmakelist.txt
project(forge_part_manager)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
forge_db_manager
forge_utils
forge_msgs
forge_features
forge_feature_identification
actionlib
roscpp
forge_errors
rospy
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES forge_part_manager
CATKIN_DEPENDS
forge_db_manager
forge_utils
forge_features
forge_feature_identification
roscpp
rospy
std_msgs
forge_errors
actionlib
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(
part_manager_node
src/part_manager_node.cpp
src/part_manager.cpp
src/part.cpp
)
target_link_libraries(
part_manager_node
${catkin_LIBRARIES}
)
#############
## Install ##
#############
There's more relevant files I can show, but this is already getting pretty long. The forge_features package depends on forge_errors, and the files in it all
#include <forge_errors/error_client_keeper.h>
#include <forge_errors/forge_error.h>
in the header files. And in the cmakelists for forge_features they're listed under find_package and catkin_package( CATKIN_DEPENDS, as well as in the package.xml for build and exec dependencies
part.h also includes those two files.
here's the relevant section of the errors package cmakelists:
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
forge_errors
CATKIN_DEPENDS
forge_msgs
forge_db_manager
forge_utils
roscpp
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(
forge_errors
src/forge_error.cpp
src/error_service.cpp
src/error_service_node.cpp
src/error_client.cpp
src/alert_service.cpp
src/error_client_keeper.cpp
)
target_link_libraries(
forge_errors
${catkin_LIBRARIES}
)
add_dependencies(
forge_errors
${PROJECT_NAME}_generate_messages_cpp
${catkin_EXPORTED_TARGETS}
)
add_executable(
error_service_node
src/error_service_node.cpp
src/error_service.cpp
src/forge_error.cpp
src/alert_service.cpp
)
target_link_libraries(
error_service_node
${catkin_LIBRARIES}
)
add_dependencies(
error_service_node
${PROJECT_NAME}_generate_messages_cpp
${catkin_EXPORTED_TARGETS}
)
#############
## Install ##
#############
# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
I can provide any other files it would help to see, but this post is too long already, so hopefully someone is able to wade through it and knows what the issue is, because I don't. forge_errors should be a complete and correctly building library, and I don't know why it can't link it to these executables.
