PKG linked to static library linking error
I'm using ROS Indigo on Ubuntu 14.04 and the static library is a planner, namely the APPL Offline implements the SARSOP algorithm. I would like to run the planner in a ROS node and there is a static library created after compiling the appl code. While building the package I get an error. In the source code I include one header and create an object (solver of a pomdp).
My CMakeFile looks like:
cmake_minimum_required(VERSION 2.8.3)
project(pomdp_planner)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
SET(APPL_LIB_DIR /home/user/UTwork/Planning/appl/branche/POP/src)
SET(SOURCES ${PROJECT_SOURCE_DIR}/src/main.cpp )
SET(HEADERS ${APPL_LIB_DIR}/OnlineOPSolver/OnlineOPsolver/solverOP_lib.hpp
${APPL_LIB_DIR}/OfflineSolver/GlobalResource.h
${APPL_LIB_DIR}/OfflineSolver/solverUtils.h
${APPL_LIB_DIR}/Parser/Cassandra/Parser.h
${APPL_LIB_DIR}/Parser/Cassandra/POMDP.h
${APPL_LIB_DIR}/Parser/ParserSelector.h
${APPL_LIB_DIR}/Models/MOMDP/MOMDP.h
${APPL_LIB_DIR}/Algorithms/SARSOP/SARSOP.h
${APPL_LIB_DIR}/Algorithms/OPMDP/OPMDP.h
${APPL_LIB_DIR}/Bounds/BackupAlphaPlaneMOMDP.h
${APPL_LIB_DIR}/Bounds/BackupBeliefValuePairMOMDP.h
${APPL_LIB_DIR}/OnlineOPSolver/OnlineOPsolver/dataLogger.h
${APPL_LIB_DIR}/Bounds/FastInfUBInitializer.h
${APPL_LIB_DIR}/Bounds/FullObsUBInitializer.h
${APPL_LIB_DIR}/Utils/CPTimer.h
${APPL_LIB_DIR}/Core/BeliefCache.h
)
SET(APPL_DIR ${APPL_LIB_DIR}/OnlineOPSolver/OnlineOPsolver
${APPL_LIB_DIR}/OfflineSolver
${APPL_LIB_DIR}/Parser/Cassandra
${APPL_LIB_DIR}/Parser/
${APPL_LIB_DIR}/Models/MOMDP
${APPL_LIB_DIR}/Algorithms/SARSOP
${APPL_LIB_DIR}/Algorithms/OPMDP
${APPL_LIB_DIR}/Bounds
${APPL_LIB_DIR}/Bounds
${APPL_LIB_DIR}/Utils
${APPL_LIB_DIR}/Core
${APPL_LIB_DIR}/MathLib
${APPL_LIB_DIR}/Algorithms
${APPL_LIB_DIR}/Parser/POMDPX
)
SET(LINKER_FLAG "-std=c++11 -fpermissive")
add_definitions(${LINKER_FLAG})
include_directories(${APPL_DIR})
add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} )
target_link_libraries(${PROJECT_NAME} ${ROS_LIBRARIES} ${catkin_LIBRARIES} ${APPL_LIB_DIR}/libappl.a)
At linking phase I got an error catkin build --this --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug:
Starting ==> pomdp_planner
[pomdp_planner] ==> '/home/elod/catkin_ws/build/pomdp_planner/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/elod/catkin_ws/build/pomdp_planner'
[ 0%] [ 0%] [ 0%] Built target std_msgs_generate_messages_py
Built target roscpp_generate_messages_lisp
Built target roscpp_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_py
[ 0%] [ 0%] Built target rosgraph_msgs_generate_messages_py
Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[100%] Building CXX object CMakeFiles/pomdp_planner.dir/src/main.cpp.o
In file included from /opt/ros/indigo/include/ros/transport_hints.h:34:0,
from /opt/ros/indigo/include/ros/subscribe_options.h:33,
from /opt/ros/indigo/include/ros/node_handle.h:41,
from /opt/ros/indigo/include/ros/ros.h:45,
from /home/elod/catkin_ws/src/solver/pomdp_planner/src/main.cpp:1:
/usr/include/boost/lexical_cast.hpp:75:49: error: expected initializer before : token
class BOOST_SYMBOL_VISIBLE bad_lexical_cast :
^
/home/elod/catkin_ws/src/solver/pomdp_planner/src/main.cpp:21:1: error: expected } at end of input
}
^
make[2]: *** [CMakeFiles/pomdp_planner.dir/src/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/pomdp_planner.dir/all] Error 2
make: *** [all] Error 2
[pomdp_planner] <== '/home/elod/catkin_ws/build/pomdp_planner/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'
Failed <== pomdp_planner [ 2.5 seconds ]
[build] There were '1' errors:
Failed to build package 'pomdp_planner' because the following command:
# Command to reproduce:
cd /home/elod/catkin_ws/build/pomdp_planner && /home/elod/catkin_ws/build/pomdp_planner/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -
# Path to log:
cat /home/elod/catkin_ws/build/build_logs/pomdp_planner.log
Exited with return code: 2
I can build appl wihtout any problems and also could use the boost library in other nodes.
The makefile of the appl:
# The code is released under GPL v2
#
#
# Makefile for creating the APPL library and related executables.
#
#
# make
# Build all the targets.
#
# make clean
# Remove all the generated binaries.
#
# make install
# Install all the targets.
#
# make depend
# Generate source file dependencies.
#
# make parser
# Create the POMDP input file parser.
#
#
# ----------------------------------------------------------------------
# Customizations
# ----------------------------------------------------------------------
#
# root directory of the package
#
ROOT = ..
#
# destination directory
#
DESTDIR = $(ROOT)
#
# name of dependency file
#
DEPFILE = Makefile.dep
#
# detecting OS
#
uname_O := $(shell sh -c 'uname -o 2>/dev/null || echo not')
ifeq ($(uname_O),Cygwin)
CYGWIN_CFLAGS = -D_CYGWIN
CYGWIN_INCDIR = -I./miniposix/
endif
# ----------------------------------------------------------------------
# Compiler
# ----------------------------------------------------------------------
CC = gcc
CFLAGS = -g -w -O $(INCDIR) -msse2 -mfpmath=sse $(CYGWIN_CFLAGS)
# -DDEBUG_LOG_ON
CXX = g++
CXXFLAGS = $(CFLAGS)
INCDIR = -I./Algorithms/OPMDP/ -I./OnlineOPSolver/OnlineOPSolver/ -I./MathLib -I./Algorithms -I./Algorithms/HSVI -I./Algorithms/SARSOP -I./Models/MOMDP/ -I./Models/MOMDP/CoLoc/ -I./OfflineSolver/ -I./Bounds/ -I./Core/ -I./Parser/Cassandra/ -I./Parser/Cassandra/include -I./Parser/ -I./Parser/POMDPX/ -I./Utils/ -I./Simulator/ -I./Evaluator/ -I./Controller/ $(CYGWIN_INCDIR)
# -I./OnlineOPSolver
# ----------------------------------------------------------------------
# Linker
# ----------------------------------------------------------------------
LINKER = g++
LDFLAGS = -L.
LIBS = -lappl #-lopencv_core -lopencv_highgui -lopencv_imgproc -lopencv_imgcodecs
# ----------------------------------------------------------------------
# Archiver
# ----------------------------------------------------------------------
ARCHIVER = ar
ARFLAGS = -ruv
# ----------------------------------------------------------------------
# Others
# ----------------------------------------------------------------------
PRINT = lpr
# ----------------------------------------------------------------------
# Files
# ----------------------------------------------------------------------
TARGETS = $(TARGET_APPL) $(TARGET_OFSOL) $(TARGET_ONSOL) $(TARGET_SIM) $(TARGET_EVA) $(TARGET_GRAPH) $(TARGET_CONVERT) $(TARGET_CTRL)
HDRS = $(HDRS_APPL) $(HDRS_OFSOL) $(HDRS_ONSOL) $(HDRS_SIM) $(HDRS_EVA) $(HDRS_GRAPH) $(HDRS_CONVERT) $(HDRS_CTRL)
SRCS = $(SRCS_APPL) $(SRCS_OFSOL) $(SRCS_ONSOL) $(SRCS_SIM) $(SRCS_EVA) $(SRCS_GRAPH) $(SRCS_CONVERT) $(HDRS_CTRL)
OBJS = $(OBJS_APPL) $(OBJS_OFSOL) $(OBJS_ONSOL) $(OBJS_SIM) $(OBJS_EVA) $(OBJS_GRAPH) $(OBJS_CONVERT) $(OBJS_CTRL)
#
# source file directories
#
#
# target: evaluate
#
TARGET_EVA = pomdpeval
HDRS_EVA =
SRCS_EVA = ./Evaluator/Evaluator.cpp
OBJS_EVA = $(SRCS_EVA:.cpp=.o) # C++ object targets
#
# target: simulate
#
TARGET_SIM = pomdpsim
HDRS_SIM =
SRCS_SIM = ./Simulator/Simulator.cpp
OBJS_SIM = $(SRCS_SIM:.cpp=.o) # C++ object targets
#
# target: offline solver
#
TARGET_OFSOL = pomdpsol
HDRS_OFSOL =
SRCS_OFSOL = ./OfflineSolver/solver.cpp
OBJS_OFSOL = $(SRCS_OFSOL:.cpp=.o) # C++ object targets
#
# target: online solver
#
TARGET_ONSOL = pomdpOnlineSol
HDRS_ONSOL =
SRCS_ONSOL = ./OnlineOPSolver/OnlineOPsolver/solverOP.cpp
OBJS_ONSOL = $(SRCS_ONSOL:.cpp=.o) # C++ object targets
#
# target: policy graph plotter
#
TARGET_GRAPH = polgraph
HDRS_GRAPH =
SRCS_GRAPH = ./PolicyGraph/PolicyGraph.cpp
OBJS_GRAPH = $(SRCS_GRAPH:.cpp=.o) # C++ object targets
#
# target: pomdp to pomdpx convertor
#
TARGET_CONVERT = pomdpconvert
HDRS_CONVERT =
SRCS_CONVERT = ./PomdpConvertor/convertor.cpp
OBJS_CONVERT = $(SRCS_CONVERT:.cpp=.o) # C++ object targets
#
# target: library
#
TARGET_APPL = libappl.a
HDRS_APPL = ./OnlineOPSolver/OnlineOPsolver/solverOP_lib.hpp \
./OnlineOPSolver/OnlineOPsolver/dataLogger.h \
./Algorithms/OPMDP/OPBeliefTreeNode.h \
./Algorithms/OPMDP/OPMDP.h \
./PolicyGraph/PolicyGraphGenerator.h \
./Evaluator/EvaluationEngine.h \
./Evaluator/EvaluatorBeliefTreeNodeTuple.h \
./Evaluator/EvaluatorSampleEngine.h \
./Simulator/SimulationEngine.h \
./MathLib/DenseVector.cpp \
./MathLib/DenseVector.h \
./MathLib/MathLib.cpp \
./MathLib/MathLib.h \
./MathLib/SparseMatrix.cpp \
./MathLib/SparseMatrix.h \
./MathLib/SparseVector.cpp \
./MathLib/SparseVector.h \
./Algorithms/PointBasedAlgorithm.h \
./Algorithms/SARSOP/AlphaPlaneMaxMeta.h \
./Algorithms/SARSOP/BinManager.cpp \
./Algorithms/SARSOP/BinManager.h \
./Algorithms/SARSOP/BinManagerSet.cpp \
./Algorithms/SARSOP/BinManagerSet.h \
./Algorithms/SARSOP/Prune.h \
./Algorithms/SARSOP/Sample.cpp \
./Algorithms/SARSOP/Sample.h \
./Algorithms/SARSOP/SampleBP.cpp \
./Algorithms/SARSOP/SampleBP.h \
./Algorithms/SARSOP/SARSOP.cpp \
./Algorithms/SARSOP/SARSOP.h \
./Algorithms/SARSOP/SARSOPPrune.cpp \
./Algorithms/SARSOP/SARSOPPrune.h \
./miniposix/getopt.h \
./miniposix/getopt_int.h \
$(wildcard ./Models/MOMDP/*.h) \
./OfflineSolver/GlobalResource.h \
./OfflineSolver/solverUtils.h \
./Bounds/BlindLBInitializer.h \
./Bounds/AlphaPlane.h \
./Bounds/AlphaPlanePool.h \
./Bounds/AlphaPlanePoolSet.h \
./Bounds/AlphaVectorPolicy.h \
./Bounds/BackupAlphaPlaneMOMDP.h \
./Bounds/BackupAlphaPlaneMOMDPLite.h \
./Bounds/BackupBeliefValuePairMOMDP.h \
./Bounds/BackupBeliefValuePairMOMDPLite.h \
./Bounds/BeliefValuePair.h \
./Bounds/BeliefValuePairPool.h \
./Bounds/BeliefValuePairPoolSet.h \
./Bounds/FastInfUBInitializer.h \
./Bounds/FullObsUBInitializer.h \
./Bounds/PruneAlphaPlane.cpp \
./Bounds/PruneAlphaPlane.h \
./Bounds/PruneBeliefValuePair.h \
./Bounds/xml_parse_lib.h \
./Evaluator/EvaluatorBeliefTreeNodeTuple.h \
./Core/FacmodelStructs.h \
./Core/Actions.h \
./Core/Backup.h \
./Core/Belief.h \
./Core/BeliefCache.h \
./Core/Policy.h \
./Core/BeliefCacheRow.h \
./Core/BeliefException.h \
./Core/BeliefForest.h \
./Core/BeliefTransition.h \
./Core/BeliefTreeNode.h \
./Core/BeliefWithState.h \
./Core/VariableContainer.h \
./Core/Bound.h \
./Core/BoundSet.h \
./Core/Const.h \
./Core/IndexedTuple.h \
./Core/MObject.h \
./Core/MObjectManager.h \
./Core/MObjectUser.h \
./Core/Observations.h \
./Core/States.h \
./Core/SymbolSet.h \
./Core/SymbolSetIterator.h \
./Core/Tuple.h \
./Core/UniqueBeliefHeap.h \
./Parser/Cassandra/decision-tree.h \
./Parser/Cassandra/imm-reward.h \
./Parser/Cassandra/include/pomdp_spec.tab.hh \
./Parser/Cassandra/MDP.h \
./Parser/Cassandra/mdpCassandra.h \
./Parser/Cassandra/Parser.h \
./Parser/Cassandra/parse_constant.h \
./Parser/Cassandra/parse_err.h \
./Parser/Cassandra/parse_hash.h \
./Parser/Cassandra/POMDP.h \
./Parser/Cassandra/pomdpCassandraWrapper.h \
./Parser/Cassandra/sparse-matrix.h \
./Parser/ParserSelector.h \
./Parser/POMDPX/FactoredPomdp.h \
./Parser/POMDPX/Function.h \
./Parser/POMDPX/ObsAct.h \
./Parser/POMDPX/POMDPLayer.h \
./Parser/POMDPX/PreCEntry.h \
./Parser/POMDPX/PreCMatrix.h \
./Parser/POMDPX/SparseEntry.h \
./Parser/POMDPX/SparseTable.h \
./Parser/POMDPX/State.h \
./Parser/POMDPX/StateObsAct.h \
./Parser/POMDPX/tinystr.h \
./Parser/POMDPX/tinyxml.h \
./Parser/POMDPX/UniqueIndex.h \
./Utils/CPMemUtils.h \
./Utils/CPTimer.h \
./Utils/Cache.h \
./Utils/InfoLog.h \
./Utils/md5.h \
./Utils/md5wrapper.h \
./Utils/StatsCollector.h \
./Utils/SimulationRewardCollector.h \
./Parser/Cassandra/include/pomdp_spec.tab.hh \
./Controller/ControllerInterface.h \
./Controller/Controller.h
SRCS_APPL = ./OnlineOPSolver/OnlineOPsolver/solverOP_lib.cpp \
./OnlineOPSolver/OnlineOPsolver/dataLogger.cpp \
./Algorithms/OPMDP/OPBeliefTreeNode.cpp \
./Algorithms/OPMDP/OPMDP.cpp \
./PolicyGraph/PolicyGraph.cpp \
./PolicyGraph/PolicyGraphGenerator.cpp \
./Evaluator/EvaluationEngine.cpp \
./Evaluator/EvaluatorSampleEngine.cpp \
./Simulator/SimulationEngine.cpp \
./MathLib/DenseVector.cpp \
./MathLib/MathLib.cpp \
./MathLib/SparseMatrix.cpp \
./MathLib/SparseVector.cpp \
./Algorithms/SARSOP/BinManager.cpp \
./Algorithms/SARSOP/BinManagerSet.cpp \
./Algorithms/SARSOP/Sample.cpp \
./Algorithms/SARSOP/SampleBP.cpp \
./Algorithms/SARSOP/SARSOP.cpp \
./Algorithms/SARSOP/SARSOPPrune.cpp \
$(wildcard ./Models/MOMDP/*.cpp) \
./OfflineSolver/GlobalResource.cpp \
./OfflineSolver/solverUtils.cpp \
./Bounds/AlphaPlane.cpp \
./Bounds/AlphaPlanePool.cpp \
./Bounds/AlphaPlanePoolSet.cpp \
./Bounds/AlphaVectorPolicy.cpp \
./Bounds/BackupAlphaPlaneMOMDP.cpp \
./Bounds/BackupAlphaPlaneMOMDPLite.cpp \
./Bounds/BackupBeliefValuePairMOMDP.cpp \
./Bounds/BackupBeliefValuePairMOMDPLite.cpp \
./Bounds/BeliefValuePair.cpp \
./Bounds/BeliefValuePairPool.cpp \
./Bounds/BeliefValuePairPoolSet.cpp \
./Bounds/BlindLBInitializer.cpp \
./Bounds/FastInfUBInitializer.cpp \
./Bounds/FullObsUBInitializer.cpp \
./Bounds/PruneAlphaPlane.cpp \
./Bounds/PruneBeliefValuePair.cpp \
./Bounds/xml_parse_lib.c \
./Core/Actions.cpp \
./Core/VariableContainer.cpp \
./Core/Belief.cpp \
./Core/BeliefCache.cpp \
./Core/BeliefException.cpp \
./Core/BeliefForest.cpp \
./Core/BeliefTreeNode.cpp \
./Core/BeliefWithState.cpp \
./Core/MObject.cpp \
./Core/Observations.cpp \
./Core/States.cpp \
./Core/UniqueBeliefHeap.cpp \
./Parser/Cassandra/Parser.cpp \
./Parser/Cassandra/POMDP.cpp \
./Parser/Cassandra/pomdpCassandraWrapper.cpp \
./Parser/ParserSelector.cpp \
./Parser/POMDPX/FactoredPomdp.cpp \
./Parser/POMDPX/Function.cpp \
./Parser/POMDPX/ObsAct.cpp \
./Parser/POMDPX/PreCEntry.cpp \
./Parser/POMDPX/PreCMatrix.cpp \
./Parser/POMDPX/SparseEntry.cpp \
./Parser/POMDPX/SparseTable.cpp \
./Parser/POMDPX/State.cpp \
./Parser/POMDPX/StateObsAct.cpp \
./Parser/POMDPX/tinystr.cpp \
./Parser/POMDPX/tinyxml.cpp \
./Parser/POMDPX/tinyxmlerror.cpp \
./Parser/POMDPX/tinyxmlparser.cpp \
./Utils/InfoLog.cpp \
./Utils/md5.cpp \
./Utils/md5wrapper.cpp \
./Utils/CPMemUtils.cpp \
./Utils/StatsCollector.cpp \
./Utils/SimulationRewardCollector.cpp \
./Parser/Cassandra/include/pomdp_spec.tab.cc \
./Parser/Cassandra/include/pomdp_spec.yy.cc \
./miniposix/getopt.c \
./miniposix/getopt1.c \
./miniposix/getopt_init.c \
./Parser/Cassandra/decision-tree.c \
./Parser/Cassandra/imm-reward.c \
./Parser/Cassandra/mdpCassandra.c \
./Parser/Cassandra/parse_err.c \
./Parser/Cassandra/parse_hash.c \
./Parser/Cassandra/sparse-matrix.c \
./Controller/Controller.cpp
OBJS_APPL_C = $(SRCS_APPL:.c=.o) # C object targets
OBJS_APPL_CC = $(OBJS_APPL_C:.cc=.o) # C++ object targets
OBJS_APPL = $(OBJS_APPL_CC:.cpp=.o) # C++ object targets
#
# target: controller
#
TARGET_CTRL = testControllerTiger
HDRS_CTRL =
SRCS_CTRL = ./Controller/testControllerTiger.cpp
OBJS_CTRL = $(SRCS_CTRL:.cpp=.o) # C++ object targets
# ----------------------------------------------------------------------
# Targets
# ----------------------------------------------------------------------
all: $(TARGETS)
$(TARGET_APPL): $(OBJS_APPL)
$(ARCHIVER) $(ARFLAGS) $(TARGET_APPL) $(OBJS_APPL)
ranlib $(TARGET_APPL)
$(TARGET_OFSOL): $(OBJS_OFSOL) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_OFSOL) $(LIBS) -o $(TARGET_OFSOL)
#ONLINE Solver PAEL
$(TARGET_ONSOL): $(OBJS_ONSOL) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_ONSOL) $(LIBS) -o $(TARGET_ONSOL)
$(TARGET_SIM): $(OBJS_SIM) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_SIM) $(LIBS) -o $(TARGET_SIM)
$(TARGET_EVA): $(OBJS_EVA) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_EVA) $(LIBS) -o $(TARGET_EVA)
$(TARGET_GRAPH):$(OBJS_GRAPH) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_GRAPH) $(LIBS) -o $(TARGET_GRAPH)
$(TARGET_CONVERT):$(OBJS_CONVERT) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_CONVERT) $(LIBS) -o $(TARGET_CONVERT)
$(TARGET_CTRL):$(OBJS_CTRL) $(TARGET_APPL)
$(LINKER) $(LDFLAGS) $(OBJS_CTRL) $(LIBS) -o $(TARGET_CTRL)
clean:; rm -f $(OBJS)
rm -f $(TARGETS)
install: $(TARGETS)
[ -d ../bin ] || mkdir ../bin
[ -d ../lib ] || mkdir ../lib
mv $(TARGET_OFSOL) $(DESTDIR)/bin/$(TARGET_OFSOL)
mv $(TARGET_ONSOL) $(DESTDIR)/bin/$(TARGET_ONSOL)
mv $(TARGET_APPL) $(DESTDIR)/lib/$(TARGET_APPL)
depend:; g++ -MM $(INCDIR) $(HDRS) $(SRCS) > $(DEPFILE)
#depend:; makedepend -Y $(INCDIR) $(SRCS)
.PHONY: parser
parser:; cd $(ParserDIR) && $(MAKE)
echo:; echo $(TARGETS);
#update: $(DEST)/$(PROGRAM)
#print:; $(PRINT) $(HDRS) $(SRCS)
include $(DEPFILE)
# DO NOT DELETE
Asked by zweistein on 2015-11-20 07:51:56 UTC
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