Writing a tf broadcaster (C++) errors

asked 2019-05-16 02:29:15 -0600

Kora11101
19 ●6 ●8 ●10

updated 2019-05-16 08:11:56 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Hello,

after adding those lines to CMakeLists.txt:

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

Errors like this appeared:

 CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o: In function `poseCallback(boost::shared_ptr<turtlesim::Pose_<std::allocator<void> > const> const&)':
turtle_tf_broadcaster.cpp:(.text+0x4f): undefined reference to `tf::TransformBroadcaster::TransformBroadcaster()'
turtle_tf_broadcaster.cpp:(.text+0x1b7): undefined reference to `ros::Time::now()'
turtle_tf_broadcaster.cpp:(.text+0x1fc): undefined reference to `tf::TransformBroadcaster::sendTransform(tf::StampedTransform const&)'
CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o: In function `main':
turtle_tf_broadcaster.cpp:(.text+0x322): undefined reference to `ros::init(int&, char**, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
turtle_tf_broadcaster.cpp:(.text+0x356): undefined reference to `ros::console::g_initialized'
turtle_tf_broadcaster.cpp:(.text+0x366): undefined reference to `ros::console::initialize()'
turtle_tf_broadcaster.cpp:(.text+0x3bb): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
turtle_tf_broadcaster.cpp:(.text+0x3fc): undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
turtle_tf_broadcaster.cpp:(.text+0x406): undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
turtle_tf_broadcaster.cpp:(.text+0x458): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
turtle_tf_broadcaster.cpp:(.text+0x4bf): undefined reference to `ros::NodeHandle::NodeHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
turtle_tf_broadcaster.cpp:(.text+0x571): undefined reference to `ros::spin()'
turtle_tf_broadcaster.cpp:(.text+0x585): undefined reference to `ros::Subscriber::~Subscriber()'
turtle_tf_broadcaster.cpp:(.text+0x594): undefined reference to `ros::NodeHandle::~NodeHandle()'
turtle_tf_broadcaster.cpp:(.text+0x636): undefined reference to `ros::NodeHandle::~NodeHandle()'
turtle_tf_broadcaster.cpp:(.text+0x667): undefined reference to `ros::NodeHandle::~NodeHandle()'
turtle_tf_broadcaster.cpp:(.text+0x698): undefined reference to `ros::Subscriber::~Subscriber()'
turtle_tf_broadcaster.cpp:(.text+0x6c0): undefined reference to `ros::Subscriber::~Subscriber()'
turtle_tf_broadcaster.cpp:(.text+0x6d4): undefined reference to `ros::Subscriber::~Subscriber()'
turtle_tf_broadcaster.cpp:(.text+0x6e8): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o: In function `__static_initialization_and_destruction_0(int, int)':
turtle_tf_broadcaster.cpp:(.text+0x7b0): undefined reference to `boost::system::generic_category()'
turtle_tf_broadcaster.cpp:(.text+0x7bc): undefined reference to `boost::system::generic_category()'
turtle_tf_broadcaster.cpp:(.text+0x7c8): undefined reference to `boost::system::system_category()'
CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o: In function `tf2_ros::TransformBroadcaster::~TransformBroadcaster()':
turtle_tf_broadcaster.cpp:(.text._ZN7tf2_ros20TransformBroadcasterD2Ev[_ZN7tf2_ros20TransformBroadcasterD5Ev]+0x1b): undefined reference to `ros::Publisher::~Publisher()'
turtle_tf_broadcaster.cpp:(.text._ZN7tf2_ros20TransformBroadcasterD2Ev[_ZN7tf2_ros20TransformBroadcasterD5Ev]+0x27): undefined reference to `ros::NodeHandle::~NodeHandle()'
turtle_tf_broadcaster.cpp:(.text._ZN7tf2_ros20TransformBroadcasterD2Ev[_ZN7tf2_ros20TransformBroadcasterD5Ev]+0x38): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o: In function `ros::Subscriber ros::NodeHandle::subscribe<turtlesim::Pose_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned ...

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answered 2019-05-16 02:44:23 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2019-05-16 08:14:03 -0600

These are linker errors, indicating that you don't link against (at least) the tf library.

Did you create the package using the command shown in the tutorial? Specifically, this:

catkin_create_pkg learning_tf tf roscpp rospy turtlesim

If you can show the find_package(catkin REQUIRED COMPONENTS ..) part of your CMakeLists.txt, we may be able to spot what is wrong or missing.

Edit:

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

cmake_minimum_required(VERSION 2.8.3)
project(learning_tf)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  tf
  turtlesim
)

This would appear to be a problem of statement order.

It's best not to have the add_executable(..) and target_link_libraries(..) lines at the top of your file.

Move those two lines below the find_package(catkin ..) line.

I expect things to start working then.

Finally, if you haven't yet, you may want to lookup a tutorial or two about CMake. That will make a lot of things related to build scripts and the kinds of errors you posted this question about much clearer.