kdl_parser and catkin
In catkin workspace I create package:
catkin_create_pkg leg_kinematics std_msgs rospy roscpp kdl_parser
In leg_kinematics/src/leg_kinematics.cpp
:
#include "ros/ros.h"
#include <kdl_parser/kdl_parser.hpp>
int main(int argc, char **argv)
{
KDL::Tree my_tree;
ros::NodeHandle node;
return 0;
}
In CMakeLists.txt
:
cmake_minimum_required(VERSION 2.8.3)
project(leg_kinematics)
find_package(catkin REQUIRED COMPONENTS
kdl_parser
roscpp
rospy
std_msgs
)
catkin_package()
include_directories( include ${catkin_INCLUDE_DIRS})
add_executable(leg_kinematics src/leg_kinematics.cpp)
target_link_libraries(leg_kinematics ${catkin_LIBRARIES})
After catkin_make
I got error:
CMakeFiles/leg_kinematics.dir/src/leg_kinematics.cpp.o: In function `main':
leg_kinematics.cpp:(.text+0x58): undefined reference to `KDL::Tree::Tree(std::string const&)'
CMakeFiles/leg_kinematics.dir/src/leg_kinematics.cpp.o: In function `KDL::TreeElement::~TreeElement()':
leg_kinematics.cpp:(.text._ZN3KDL11TreeElementD2Ev[_ZN3KDL11TreeElementD5Ev]+0x27): undefined reference to `KDL::Segment::~Segment()'
leg_kinematics.cpp:(.text._ZN3KDL11TreeElementD2Ev[_ZN3KDL11TreeElementD5Ev]+0x38): undefined reference to `KDL::Segment::~Segment()'
Why?)