How to solve 'undefined reference to `ros::init' on Groovy?

edit

I use ROS groovy on ubuntu 12.04 64 bits.

I try to write the simplest program.

I run:

  roscd
  cd ../src
  catkin_create_pkg sam_hello roscpp
  roscd sam_hello

src/sam_hello_src1.cpp:

  #include <ros/ros.h>

  int main(int argc,char **argv)
  {
      ros::init(argc,argv, "sam_hello_node");
      ros::spin();
      return 0;
  }

Then I edit CMakeLists.txt,add a line:

  add_executable(sam_hello_node src/sam_hello_src1.cpp)

Then I try to make:

  roscd
  cd ..
  catkin_make

It shows:

  sam@sam:~/code/ros_groovy$ catkin_make
  Base path: /home/sam/code/ros_groovy
  Source space: /home/sam/code/ros_groovy/src
  Build space: /home/sam/code/ros_groovy/build
  Devel space: /home/sam/code/ros_groovy/devel
  Install space: /home/sam/code/ros_groovy/install
  ####
  #### Running command: "make cmake_check_build_system" in "/home/sam/code/ros_groovy/build"
  ####
  ####
  #### Running command: "make -j4 -l4" in "/home/sam/code/ros_groovy/build"
  ####
  Scanning dependencies of target sam_hello_node
  [100%] Building CXX object sam_hello/CMakeFiles/sam_hello_node.dir/src/sam_hello_src1.cpp.o
  Linking CXX executable /home/sam/code/ros_groovy/devel/lib/sam_hello/sam_hello_node
  CMakeFiles/sam_hello_node.dir/src/sam_hello_src1.cpp.o: In function `main':
  sam_hello_src1.cpp:(.text+0x46): undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
  sam_hello_src1.cpp:(.text+0x63): undefined reference to `ros::spin()'
  collect2: ld 回傳 1
  make[2]: *** [/home/sam/code/ros_groovy/devel/lib/sam_hello/sam_hello_node] Error 1
  make[1]: *** [sam_hello/CMakeFiles/sam_hello_node.dir/all] Error 2
  make: *** [all] Error 2
  Invoking "make" failed
  sam@sam:~/code/ros_groovy$

How to solve it?

Thank you~

---The following is the process that I setup groovy environments---

Commands:

  source /opt/ros/groovy/setup.sh
  mkdir -p ~/code/ros_groovy/src
  cd ~/code/ros_groovy/src
  catkin_init_workspace
  cd ~/code/ros_groovy/
  catkin_make
  echo 'source $HOME/code/ros_groovy/devel/setup.bash' >> ~/.bashrc
  source devel/setup.bash

Setting process:

  sam@sam:~$ source /opt/ros/groovy/setup.sh
  sam@sam:~$ mkdir -p ~/code/ros_groovy/src
  sam@sam:~$ cd ~/code/ros_groovy/src
  sam@sam:~/code/ros_groovy/src$ catkin_init_workspace
  Creating symlink "/home/sam/code/ros_groovy/src/CMakeLists.txt" pointing to "/opt/ros/groovy/share/catkin/cmake/toplevel.cmake"
  sam@sam:~/code/ros_groovy/src$ cd ~/code/ros_groovy/
  sam@sam:~/code/ros_groovy$ catkin_make
  Base path: /home/sam/code/ros_groovy
  Source space: /home/sam/code/ros_groovy/src
  Build space: /home/sam/code/ros_groovy/build
  Devel space: /home/sam/code/ros_groovy/devel
  Install space: /home/sam/code/ros_groovy/install
  ####
  #### Running command: "cmake /home/sam/code/ros_groovy/src -DCATKIN_DEVEL_PREFIX=/home/sam/code/ros_groovy/devel -DCMAKE_INSTALL_PREFIX=/home/sam/code/ros_groovy/install" in "/home/sam/code/ros_groovy/build"
  ####
  -- The C compiler identification is GNU
  -- The CXX compiler identification is GNU
  -- Check for working C compiler: /usr/bin/gcc
  -- Check for working C compiler: /usr/bin/gcc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  -- Using CATKIN_DEVEL_PREFIX: /home/sam/code/ros_groovy/devel
  -- Using CMAKE_PREFIX_PATH: /opt/ros/groovy
  -- This workspace overlays: /opt/ros/groovy
  -- Found PythonInterp: /usr/bin/python ...