I've been trying to compile my project and I've encountered some problems when trying so. The error in particular that appears is:
[build] /usr/bin/ld: CMakeFiles/robot_control.dir/main.cpp.o:(.data.rel.ro._ZTVN4comm15cameraInterfaceE[_ZTVN4comm15cameraInterfaceE]+0x10): undefined reference to `comm::Interface<cv::Mat>::callbackMsg()'
My project is organized right now as it follows:
-${HOME_WORKSPACE}
|-main.cpp
|-src
|-communication.cpp
|-communication.hpp
The header file (communication.hpp) is:
#include <opencv2/opencv.hpp>
#include <gazebo/gazebo_client.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/transport/transport.hh>
#include <algorithm>
#ifndef COMM_GUARD
#define COMM_GUARD
namespace comm
{
struct lidarMsg
{
float angle_min, angle_increment, range_min, range_max;
int nranges, nintensities;
std::vector<int> ranges;
};
template <typename T>
class Interface
{
public:
Interface() : received{false} {};
virtual void callbackMsg();
bool receptionAccomplished()
{
return this -> received;
}
T checkReceived()
{
return this -> elementReceived;
}
protected:
bool received;
T elementReceived;
};
class cameraInterface : public Interface<cv::Mat>
{
public:
void callbackMsg(ConstImageStampedPtr &msg);
};
class lidarInterface : public Interface<lidarMsg>
{
public:
void callbackMsg(ConstLaserScanStampedPtr &msg);
};
}
#endif
The source file (communication.cpp) is:
#include <opencv2/opencv.hpp>
#include <algorithm>
#include <iostream>
#include "communication.hpp"
#ifndef COMM_CPP_GUARD
#define COMM_CPP_GUARD
namespace comm
{
void cameraInterface::callbackMsg(ConstImageStampedPtr &msg)
{
std::size_t width = msg->image().width();
std::size_t height = msg->image().height();
const char *data = msg->image().data().c_str();
cv::Mat im(int(height), int(width), CV_8UC3, const_cast<char *>(data));
im = im.clone();
cv::cvtColor(im, im, cv::COLOR_RGB2BGR);
this->elementReceived = im;
received = true;
}
void lidarInterface::callbackMsg(ConstLaserScanStampedPtr &msg) {
this->elementReceived.angle_min = float(msg->scan().angle_min());
this->elementReceived.angle_increment = float(msg->scan().angle_step());
this->elementReceived.range_min = float(msg->scan().range_min());
this->elementReceived.range_max = float(msg->scan().range_max());
this->elementReceived.nranges = msg->scan().ranges_size();
this->elementReceived.nintensities = msg->scan().intensities_size();
for (int i = 0; i < this->elementReceived.nranges; i++)
{
if (this->elementReceived.ranges.size() <= i)
{
this->elementReceived.ranges.push_back(std::min(float(msg->scan().ranges(i)), this->elementReceived.range_max));
}
else
{
this->elementReceived.ranges[i] = std::min(float(msg->scan().ranges(i)), this->elementReceived.range_max);
}
}
}
}
#endif
The main file(main.cpp) includes the following header:
#include <gazebo/gazebo_client.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/transport/transport.hh>
#include <opencv2/opencv.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
#include <stdlib.h>
#include "src/communication.hpp"
I included the part of the #ifndef /#define /#endif since it is a solution that I found to this kind of problem in other problem. I've been toggling the CMakeLists.txt file but still no solution that could solve this error.
