Hello. I'm having an issue linking a header to my code. I'm trying to include libi2c from "https://github.com/amaork/libi2c" to use with ROS. (Stand alone this all works). I have a node called keyboard_nav: In it I have 'include', 'launch', and 'src' folders. I have a test CPP file called i2c_xavierROS:
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include "i2c.h"
using namespace std;
int main(int argc, char **argv)
{
unsigned char buf[6];
size_t buf_size = sizeof(buf);
int fd;
I2CDevice device;
const char *data = "15291021";
/* First open i2c bus */
if ((fd = i2c_open("/dev/i2c-8")) == -1)
{
perror("Open i2c bus error");
return -1;
}
/* Fill i2c device struct */
device.bus = fd;
device.addr = 0x0f;
device.tenbit = 0;
device.delay = 10;
device.flags = 0;
device.page_bytes = 8;
device.iaddr_bytes = 0; /* Set this to zero, and using i2c_ioctl_xxxx API will ignore chip internal address */
/* Write data to i2c */
if (i2c_ioctl_write(&device, 0x0, data, strlen(data)) != strlen(data))
{ /* Error process */ }
/* Read data from i2c */
if (i2c_ioctl_read(&device, 0x0, buf, buf_size) != buf_size)
{
for (int i = 0; i < buf_size; i++) {
buf[i] = 0xff - i;
}
}
i2c_close(fd);
printf("buffer is ");
printf("%s\n", buf);
/*
for (i = 0; i < buf_size; i++)
{
//scanf( "%d", &buf[i]);
printf("%s\n", buf);
}*/
return 0;
}
My #include "i2c.h" and i2c.c are saved in the include folder. Here is the CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(keyboard_nav)
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
#add_executable for demo.cpp
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES keyboard_nav
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
include_directories(include ${catkin_INCLUDE_DIRS} )
add_executable(i2c_xavierROS src/i2c_xavierROS.cpp)
target_link_libraries(i2c_xavierROS ${catkin_LIBRARIES})
add_dependencies(i2c_xavierROS keyboard_nav_generate_messages_cpp)
When I run catkin_make I get this error:
CMakeFiles/i2c_xavierROS.dir/src/i2c_xavierROS.cpp.o: In function `main':
i2c_xavierROS.cpp:(.text+0x3a): undefined reference to `i2c_open'
i2c_xavierROS.cpp:(.text+0xaa): undefined reference to `i2c_ioctl_write'
i2c_xavierROS.cpp:(.text+0xd5): undefined reference to `i2c_ioctl_read'
i2c_xavierROS.cpp:(.text+0x112): undefined reference to `i2c_close'
collect2: error: ld returned 1 exit status
keyboard_nav/CMakeFiles/i2c_xavierROS.dir/build.make:113: recipe for target '/home/sp6david/henry_ws/devel/lib/keyboard_nav/i2c_xavierROS' failed
make[2]: *** [/home/sp6david/henry_ws/devel/lib/keyboard_nav/i2c_xavierROS] Error 1
CMakeFiles/Makefile2:872: recipe for target 'keyboard_nav/CMakeFiles/i2c_xavierROS.dir/all' failed
make[1]: *** [keyboard_nav/CMakeFiles/i2c_xavierROS.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j6 -l6" failed
I'd appreciate any help on fixing this.
Originally posted by MiniMe on ROS Answers with karma: 31 on 2019-11-25
Post score: 0
