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
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 >> roscpp [ make ]
[rosmake-1] Finished >> test_utility [ make ]
[rosmake-0] Finished >> 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/test_using_utility/build'
[ 0%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
make[3]: Leaving directory `/home/babchol/ros_workspace/test_using_utility/build'
[ 0%] Built target rosbuild_precompile
make[3]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
make[3]: Leaving directory `/home/babchol/ros_workspace/test_using_utility/build'
make[3]: Entering directory `/home/babchol/ros_workspace/test_using_utility/build'
Linking CXX executable ../bin/test_using_utility
/usr/bin/ld: cannot find -ltest_utility
collect2: ld returned 1 exit status
make[3]: *** [../bin/test_using_utility] Error 1
make[3]: Leaving directory `/home/babchol/ros_workspace/test_using_utility/build'
make[2]: *** [CMakeFiles/test_using_utility.dir/all] Error 2
make[2]: Leaving directory `/home/babchol/ros_workspace/test_using_utility/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/babchol/ros_workspace/test_using_utility/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package test_using_utility written to:
[ rosmake ] /home/babchol/.ros/rosmake/rosmake_output-20120512-092758/test_using_utility/build_output.log
[rosmake-0] Finished
It might be an easy question.
However, I failed although I followed similar answer(write depend and export in manifest.xml)
I'd appreciate for your answer.
Summary(problem solved)
I can solve my problem with help of Lorenz.
I sum up the method here to reference other package's library for other people like me.
The situation is that 'A' package already exists for library,
and I want to reference it in 'B' package. I have to follow this procedure.
In 'A' package
1. assume already made library. (do same in CMakeLists.txt when you make library)
2. add this in manifest.xml
: this exports cflags and lflags that have 'A' package's directory or library
information,
(in-my-example)
<export>
<cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -ltest_utility"/>
</export>
In 'B' package,
1. do same in CMakeLists.txt when you make executable.
2. add this in manifest.xml
: this indicates 'B' depends 'A'
(in-my-example)
<depend package="test_utility"/>
Originally posted by Hancheol Choi on ROS Answers with karma: 43 on 2012-05-11
Post score: 4
