How do I link an executable with library in other package?

edit

I want to make an executable in a package referencing a library in another package. I succeeded making library(named test_utility), but failed to link with executable(named test_using_utility). I don't know what the problem is.

Here is my header and source files to make a library in test_utility package.

// ros_workspace/test_utility/include/test_utility/test_utility.hpp
#ifndef _TEST_UTILITY_
#define _TEST_UTILITY_

class Utility 
{
public:
    float dosomething(float);
};

#endif

// ros_workspace/test_utility/src/test_utility.cpp
#include <test_utility/test_utility.hpp>

float Utility::dosomething(float p)
{
    return p/2;
}
 

I added this comment in CMakeLists.txt

rosbuild_add_library(test_utility src/test_utility.cpp)
 

and it's manifest.xml

<package>
  <description brief="test_utility">

     test_utility

  </description>
  <author>babchol</author>
  <license>BSD</license>
  <eview status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/test_utility</url>
  <depend package="roscpp"/>
  <depend package="std_msgs"/>
  <export>
    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -ltest_utility"/> 
  </export>
</package>
 

Here is my source file in executable in test_using_utility package.

// ros_workspace/test_using_utility/src/test_using_utility.cpp
#include <ros/ros.h>
#include <test_utility/test_utility.hpp>
#include <iostream>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "test");
    ros::NodeHandle nh;

    Utility u;
    float x = u.dosomething(32);

    std::cout << x << std::endl;

    ros::spin();
    return 0;
}
 

I added in CMakeLists.txt

rosbuild_add_executable(test_using_utility src/test_using_utility.cpp)
 

also, it's manifest.xml

<package>
  <description brief="test_using_utility">

     test_using_utility

  </description>
  <author>babchol</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/test_using_utility</url>
  <depend package="roscpp"/>
  <depend package="std_msgs"/>
  <depend package="test_utility"/>
</package>
 

Finally, I got an link error like this when rosmaking in test_using_utility package.

[ rosmake ] rosmake starting...                                                 
[ rosmake ] No package specified.  Building ['test_using_utility']              
[ rosmake ] Packages requested are: ['test_using_utility']                      
[ rosmake ] Logging to directory /home/babchol/.ros/rosmake/rosmake_output-20120512-092758
[ rosmake ] Expanded args ['test_using_utility'] to:
['test_using_utility']     
[rosmake-0] Starting >>> roslang [ make ]                                       
[rosmake-1] Starting >>> std_msgs [ make ]                                      
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
 No Makefile in package roslang
[rosmake-0] Starting >>> roscpp [ make ]                                        
[rosmake-1] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
 No Makefile in package std_msgs
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
 No Makefile in package roscpp
[rosmake-0] Starting >>> test_utility [ make ]                                  
[rosmake-0] Finished <<< test_utility [PASS] [ 2.52 seconds ]                   
[rosmake-0] Starting >>> test_using_utility [ make ]                            
[ rosmake ] Last 40 linesst_using_utility: 1.5 sec ]   [ 1 Active 4/5 Complete ]
{-------------------------------------------------------------------------------
    source dir.  Run "cmake --help-policy CMP0015" for policy details.  Use the
    cmake_policy command to set the policy and suppress this warning.
  Call Stack (most recent call first):
    CMakeLists.txt:12 (rosbuild_init)
  This warning is for project developers.  Use -Wno-dev to suppress it.

  [rosbuild] Including /opt/ros/fuerte/share/roslisp/rosbuild/roslisp.cmake
  [rosbuild] Including /opt/ros/fuerte/share/rospy/rosbuild/rospy.cmake
  [rosbuild] Including /opt/ros/fuerte/share/roscpp/rosbuild/roscpp.cmake
  -- Configuring done
  -- Generating done
  CMake Warning:
    Manually-specified variables were not used by the project:

      CMAKE_TOOLCHAIN_FILE


  -- Build files have been written to: /home/babchol/ros_workspace/test_using_utility/build
  cd build && make -l2
  make[1]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
  make[2]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
  make[3]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
  make[3]: Leaving directory `/home/babchol/ros_workspace ...