Hi All,

I am trying to build the katana_driver for ROS + Gazebo using instructions on this page. My OS is Ubuntu 16.10 (yakkety) 64-bit and my ROS distribution is Lunar. I am running into errors when catkinmake is trying to link the executable min-max-trajectory at 98% of the build. The entire catkinmake output is here. The steps I followed to reach this point is as follows:

1. Install ROS Lunar Desktop Full on yakkety, rosdep init and rosdep update. Also source the setup.bash file in "/opt/ros/lunar/" to .bashrc and install the additional wstools as mentioned on the ROS installation page here.
2. Create "gazebokatanaws/src" directory in my home folder and cd into it.
3. Execute wstool init, wstool merge katana.rosinstalland wstool update using the rosinstall file katana.rosinstall. It pulls the lunar branch katanadriver from github into the "gazebokatana_ws/src".
4. Then execute rosdep update and rosdep install --from-paths ./ -i -y. All dependencies get installed.
5. Then execute catkin_init_workspace, cd .. and catkin_make. The build process starts and runs file till it reaches 98% and then gives the linking error mentioned above. A small part of the error displayed is as follows:

[ 98%] Linking CXX executable /home/sripad/gazebokatanaws/devel/lib/katanaarmgazebo/minmaxtrajectory

/home/sripad/gazebokatanaws/devel/lib/libgazeboroskatana_gripper.so: error: undefined reference to 'gazebo::common::Time::Time()'

/home/sripad/gazebokatanaws/devel/lib/libgazeboroskatana_gripper.so: error: undefined reference to 'gazebo::common::Time::~Time()'

/home/sripad/gazebokatanaws/devel/lib/libgazeboroskatana_gripper.so: error: undefined reference to 'gazebo::physics::Base::GetWorld() const'

/home/sripad/gazebokatanaws/devel/lib/libgazeboroskatanagripper.so: error: undefined reference to 'sdf::Element::HasElement(std::cxx11::basicstring, std::allocator > const&) const'

...

Please help me in figuring out how to solve this issue and pass the build. Any help is appreciated.

Thanks.