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Undefined reference to 'setup' and 'loop' using CMake for custom project

asked 2014-12-17 20:09:19 -0600

anonymousSnowMan gravatar image

updated 2014-12-17 20:19:43 -0600

I am trying to implement a CLI uploader for an Arduino MEGA2560 using rosserial_arduino and CMake, based upon http://wiki.ros.org/rosserial_arduino... under LUbuntu 14.04 with ROS-Indigo on an ODROID (ARM) development board.

The tutorial works fine, as can be seen here:

$ catkin_make helloworld_firmware_hello-upload
Base path: /home/odroid/catkin_ws
Source space: /home/odroid/catkin_ws/src
Build space: /home/odroid/catkin_ws/build
Devel space: /home/odroid/catkin_ws/devel
Install space: /home/odroid/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/odroid/catkin_ws/build"
####
####
#### Running command: "make helloworld_firmware_hello-upload -j8 -l8" in "/home/odroid/catkin_ws/build"
####
[  0%] Built target _rosserial_msgs_generate_messages_check_deps_RequestServiceInfo
[  0%] [  0%] Built target _rosserial_msgs_generate_messages_check_deps_Log
Built target _rosserial_msgs_generate_messages_check_deps_TopicInfo
[  0%] [  0%] Built target _rosserial_msgs_generate_messages_check_deps_RequestMessageInfo
Built target _rosserial_msgs_generate_messages_check_deps_RequestParam
[ 87%] Built target rosserial_msgs_generate_messages_py
[ 87%] Built target rosserial_msgs_genpy
[100%] Built target helloworld_ros_lib
-- Generating hello
-- Configuring done
-- Generating done
-- Build files have been written to: /home/odroid/catkin_ws/build/helloworld/firmware
[100%] Built target helloworld_firmware
make[4]: warning: jobserver unavailable: using -j1.  Add `+' to parent make rule.
[ 90%] Built target mega2560_CORE
[100%] Built target hello

avrdude: AVR device initialized and ready to accept instructions

Reading | ################################################## | 100% 0.02s

avrdude: Device signature = 0x1e9801
avrdude: reading input file "/home/odroid/catkin_ws/devel/share/helloworld/hello.hex"
avrdude: input file /home/odroid/catkin_ws/devel/share/helloworld/hello.hex auto detected as Intel Hex
avrdude: writing flash (9854 bytes):

Writing | ################################################## | 100% 1.60s

avrdude: 9854 bytes of flash written
avrdude: reading input file "/home/odroid/catkin_ws/devel/share/helloworld/hello.eep"
avrdude: writing eeprom (0 bytes):

Writing | ################################################## | 100% 0.00s

avrdude: 0 bytes of eeprom written

avrdude: safemode: Fuses OK (H:E6, E:D8, L:E6)

avrdude done.  Thank you.

[100%] Built target hello-upload
[100%] Built target helloworld_firmware_hello-upload

However, when I create a new catkin_package for my desired file (which is actually a symbolic link to a ../sketchbook/ Arduino project due to the need for both IDE and non-IDE uploading (some students are competent with CLI, others GUI)), I get the following output (I have removed the Policy CMP0022 warnings from this output):

$ catkin_make mechbot_v3_firmware_code-upload
Base path: /home/odroid/catkin_ws
Source space: /home/odroid/catkin_ws/src
Build space: /home/odroid/catkin_ws/build
Devel space: /home/odroid/catkin_ws/devel
Install space: /home/odroid/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/odroid/catkin_ws/build"
####
####
#### Running command: "make mechbot_v3_firmware_code-upload -j8 -l8" in "/home/odroid/catkin_ws/build"
####
[  0%] [  0%] Built target _rosserial_msgs_generate_messages_check_deps_TopicInfo
Built target _rosserial_msgs_generate_messages_check_deps_Log
[  0%] [  0%] Built target _rosserial_msgs_generate_messages_check_deps_RequestServiceInfo
[  0%] Built target _rosserial_msgs_generate_messages_check_deps_RequestParam
Built target _rosserial_msgs_generate_messages_check_deps_RequestMessageInfo
[ 87%] Built target rosserial_msgs_generate_messages_py
[ 87%] Built target rosserial_msgs_genpy
[100%] Built target mechbot_v3_ros_lib
-- Generating code
-- Configuring done
... lots of Policy CMP0022 warnings removed ...
-- Generating done
-- Build files have been written to: /home/odroid/catkin_ws/build/mechbot_v3/firmware
[100%] Built target mechbot_v3_firmware
Scanning dependencies of target mechbot_v3_firmware_code-upload
make[4]: warning: jobserver unavailable: using -j1.  Add `+' to parent make rule.
[ 71%] Built target mega2560_CORE
[ 78%] Built target mega2560_Wire
[ 82%] Built target mega2560_ITG3200
[ 85%] Built target mega2560_HMC58X3
[ 89%] Built target mega2560_Servo
[ 92%] Built target mega2560_ADXL345
[ 96%] Built target mega2560_LiquidCrystal
[ 96%] Built target mega2560_PinChangeInt
Linking CXX executable /home/odroid/catkin_ws/devel ...
(more)
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2 Answers

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answered 2014-12-18 08:02:56 -0600

As suggested on the issue tracker, please try using the generate_arduino_firmware(SKETCH xyz) syntax of arduino-cmake.

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This corrected the issue. Entry required was:

generate_arduino_firmware(program SKETCH file.ino SRCS ${ROS_LIB_DIR}/time.cpp BOARD mega2560 PORT /dev/ttyACM0)

Why is there a SRCS and a SKETCH entry if they behave the same, as I have shown by simply renaming one to the other?

anonymousSnowMan gravatar imageanonymousSnowMan ( 2014-12-18 16:57:47 -0600 )edit
0

answered 2014-12-17 20:24:11 -0600

anonymousSnowMan gravatar image

updated 2014-12-18 02:43:31 -0600

So it appears that rosserial_arduino/CMake can't work with .ino files, unless there is something specifically wrong with my .ino file. Copying and renaming the .ino file to a .cpp file fixed all of the issues, and the code uploaded correctly. Bug?

EDIT 1: A symbolic link (ln -s) from the ../sketchbook/<project>/<project>.ino file to the ../firmware/<project>.cpp file also fixes the issue, meaning I can still have the students update the code in one location for both the CLI and GUI.

EDIT 2: Obviously an update was required to the ./firmware/CMakeLists.txt to target the new .cpp file, after the .cpp symbolic link was created.

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Comments

Is this really solved then, or just worked around? Perhaps report this as an issue on the rosserialissue tracker?

gvdhoorn gravatar imagegvdhoorn ( 2014-12-18 01:38:03 -0600 )edit

You are correct, gvdhoorn; this is a workaround and not a fix. I will submit the bug report to the issue tracker as per your suggestion.

anonymousSnowMan gravatar imageanonymousSnowMan ( 2014-12-18 02:42:32 -0600 )edit

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Asked: 2014-12-17 20:09:19 -0600

Seen: 469 times

Last updated: Dec 18 '14