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I'm trying to make a ROS GUI with QTCreator 6. For some reason I'm always getting some include problems either with QT-Libraries, own header files or ROS. I'm using the ros_qtc_plugin.

Project architecture:

catkin_ws
-anayzer_gui
--include
---analyzer_gui
----analyzer_gui.h
----analyzergui.ui
--nodes
---analyzer_gui_node.cpp
--src
---analyzer_gui.cpp
-CMakeLists.txt
-package.xml
CMakeLists.txt:
cmake_minimum_required(VERSION 3.0.2)
project(analyzer_gui)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)
find_package(pluginlib REQUIRED)
find_package(Qt6 REQUIRED COMPONENTS Widgets)


catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS roscpp std_msgs
)


include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include/analyzer_gui
  ${CMAKE_CURRENT_SOURCE_DIR}/nodes
  ${catkin_INCLUDE_DIRS}
)


add_executable(${PROJECT_NAME}_node nodes/analyzer_gui_node.cpp)
target_link_libraries(${PROJECT_NAME}_node PRIVATE Qt6::Widgets)


add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})`
package.xml:

<?xml version="1.0"?>
<package format="2">
  <name>analyzer_gui</name>
  <version>0.0.0</version>
  <description>The analyzer_gui package</description

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>pkg-config</build_depend>
  <build_depend>qt6-qmake</build_depend>
  <build_depend>qtbase6-dev</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>qt_build</build_depend>
  <build_depend>libqt6</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>qt_build</exec_depend>
  <exec_depend>libqt6</exec_depend>
  <exec_depend>roscpp</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>
analyzer_gui.h:

#ifndef ANALYZER_GUI_H
#define ANALYZER_GUI_H

#include <QWidget>
#include <ros/ros.h>

namespace Ui {
class AnalyzerGui;
}

class AnalyzerGui : public QWidget
{
    Q_OBJECT

public:
    explicit AnalyzerGui(QWidget *parent = nullptr);
    ~AnalyzerGui();

private:
    Ui::AnalyzerGui *ui;
};

#endif // ANALYZER_GUI_H
analyzer_gui_node.cpp:

#include <QApplication>
#include "analyzer_gui/analyzer_gui.h"

int main(int argc, char *argv[]){
    ros::init(argc, argv, "analyzer_gui_node");
    QApplication a(argc, argv);

    AnalyzerGui w;
    w.setWindowTitle(QString::fromStdString(ros::this_node::getName()));
    w.show();
    return a.exec();
}
analyzer_gui.cpp:

#include "analyzer_gui.h"
#include "ui_analyzergui.h"

AnalyzerGui::AnalyzerGui(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::AnalyzerGui)
{
    ui->setupUi(this);
}

AnalyzerGui::~AnalyzerGui()
{
    delete ui;
}`

Error messages:

:-1: error: CMakeFiles/analyzer_gui_node.dir/nodes/analyzer_gui_node.cpp.o: in function `main':
/home/bryan/catkin_ws/src/analyzer_gui/nodes/analyzer_gui_node.cpp:5: error: undefined reference to `ros::init(int&, char**, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'

:-1: error: /home/bryan/catkin_ws/src/analyzer_gui/nodes/analyzer_gui_node.cpp:8: undefined reference to `AnalyzerGui::AnalyzerGui(QWidget*)'

:-1: error: /home/bryan/catkin_ws/src/analyzer_gui/nodes/analyzer_gui_node.cpp:9: undefined reference to `ros::this_node::getName[abi:cxx11]()'

:-1: error: /home/bryan/catkin_ws/src/analyzer_gui/nodes/can_analyzer_gui_node.cpp:8: undefined reference to `AnalyzerGui::~AnalyzerGui()'

:-1: error: /home/bryan/catkin_ws/src/analyzer_gui/nodes/analyzer_gui_node.cpp:8: undefined reference to `AnalyzerGui::~AnalyzerGui()'

:-1: error: collect2: error: ld returned 1 exit status

:-1: error: [analyzer_gui/CMakeFiles/analyzer_gui_node.dir/build.make:89: /home/bryan/catkin_ws/devel/lib/analyzer_gui/analyzer_gui_node] Error 1

Thank you!

The CMakeLists and package look pretty messy since I'm a beginner and tried a lot of stuff that didn't work. In Qt the content of the header files is recognized (class names are highlighted) but while building they are not found.

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1
  • $\begingroup$ You have linker errors (that's the ld program mentioned in your console errors), so you'll want to look for tutorials and examples around CMakeLists.txt. Without trying myself, my guess is you're missing some target_link_libraries statements. $\endgroup$
    – proan
    Feb 7 at 18:26

1 Answer 1

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File analyzer_gui.cpp is not compiled. Try adding it into add_executable(...)

catkin libraries are missing from link stage, also try:

target_link_libraries(${PROJECT_NAME}_node 
   PRIVATE 
      Qt6::Widgets 
      ${catkin_LIBRARIES}
)
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