communication node with c-Funktion as executable in catkin

edit

Hey there,

The task:

I want to create a control for robots via ROS: I receive data via a callback function (Subscriber) and send directly the calculated outputs in this function (Publisher). The calculation of the control parameters also needs some additional functions, which are given via other c files. All this code is given in c.

The Structure

catkin/src/grampc/

 1. CMakeLists.txt 

 2. package.xml 

 3. include/ (Contains all c++ headerfiles):
    - euler1.h 
    - eulermod2.h 
    - grampc_init.h
    - grampc_mess.h
    - grampc_run.h
    - grampc_setopt.h 
    - grampc_setparam.h
    - heun2.h
    - probfct.h 
    - ruku45.h

 4.  src/ (Contains all c++ sourcefiles):
    - grampc.cpp #<<-- This is the file with the callback function and therefor the node
    - euler1.c 
    - eulermod2.c 
    - grampc_init.c
    - grampc_mess.c 
    - grampc_run.c
    - grampc_setopt.c 
    - grampc_setparam.c
    - heun2.c 
    - probfct.c 
    - ruku45.c

 5.  srv/ (Contains all servicefiles)
    - grampc_IO.srv

The concept:

So the concept is to build one executable (grampc_node with grampc.cpp) which can use functions of other files (euler1.c, euler1.h ....) and that can communicate via a service (grampc_IO).

**The Package:**
CMakeLists.txt:

cmake_minimum_required(VERSION 2.8)
project(grampc)

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation rosbag)

add_service_files(FILES grampc_IO.srv)

generate_messages(DEPENDENCIES std_msgs)

catkin_package(      CATKIN_DEPENDS roscpp rospy std_msgs rosbag    )

include_directories(include     /include )

#define sources
set(grampc_SRCS
  src/euler1.c
  src/eulermod2.c
  src/heun2.c
  src/probfct.c
  src/ruku45.c
  src/grampc_run.c
  src/grampc_mess.c
  src/grampc_setopt.c
  src/grampc_setparam.c
  src/grampc_init.c
)

#define a grampc_node target
add_executable(grampc_node src/grampc.cpp ${grampc_SRCS})

#now link our node to the library, and all the libraries from the other pkgs
target_link_libraries(grampc_node ${catkin_LIBRARIES})

add_dependencies(grampc_node grampc_gencpp)

install(TARGETS grampc_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

package.xml:

<package>
  <!-- Package Metadata -->
  <name>grampc</name>
  <version>1.2.4</version>
  <license>BSD</license>
  <!-- Required by Catkin -->
  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>std_msgs</build_depend>
  <run_depend>std_msgs</run_depend>
  <build_depend>rospy</build_depend>
  <run_depend>rospy</run_depend>
  <build_depend>roscpp</build_depend>
  <run_depend>roscpp</run_depend>
  <build_depend>rosbag</build_depend>
  <run_depend>rosbag</run_depend>
  <!-- at build time you need message_generation -->
  <build_depend>message_generation</build_depend>
  <!-- at run time you need message_runtime -->
  <run_depend>message_runtime</run_depend>

  <!-- Add services -->
 add_service_files(FILES grampc_IO.srv )

</package>

Problem: The required source files (which are located in grampc/src) or headerfiles (which are located in grampc/include) are not getting linked or better: I get undefined references. I don't know how to proceed. It would be amazing if you would have any ideas about that.

With the catkin_make grampc to just make the Package:

user:~/Workspace/catkin$ catkin_make grampc
Base path: /home/user/Workspace/catkin
    Source space: /home/user/Workspace/catkin/src
    Build space: /home/user/Workspace/catkin/build
    Devel space: /home/user/Workspace/catkin/devel
    Install space: /home/user/Workspace/catkin/install
    ####
    #### Running command: "make cmake_check_build_system" in "/home/user/Workspace/catkin/build"
    ####
    ####

#### Running command: "make grampc -j4 -l4" in "/home/user/Workspace/catkin/build"
####

with the catkin_make command for the whole workspace:

...
/home/user/Workspace/catkin/src/grampc/src/grampc.cpp:133:44: warning: deprecated conversion from string constant to ‘char*’ [-Wwrite-strings]
   grampc_setparam_vector(mpc_ws,"xdes ...