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Kinetic: cv_bridge unresolved reference to toImageMsg()

asked 2018-06-06 04:08:45 -0500

Hello guys,

I have been struggling with adding cv_brige to my custom ROS package called camera_pkg.

When I try to compile this particular package with catkin_make --only-pkg-with-deps camera_pkg that is the output I receive:

[ 94%] Linking CXX executable /home/ros/catkin_ws/devel/lib/camera_pkg/camera_node
/home/ros/catkin_ws/devel/lib/libcamera_pkg.so: undefined reference to `cv_bridge::CvImage::toImageMsg() const'
collect2: error: ld returned 1 exit status
camera_pkg/CMakeFiles/camera_node.dir/build.make:184: recipe for target '/home/ros/catkin_ws/devel/lib/camera_pkg/camera_node' failed
make[2]: *** [/home/ros/catkin_ws/devel/lib/camera_pkg/camera_node] Error 1
CMakeFiles/Makefile2:1018: recipe for target 'camera_pkg/CMakeFiles/camera_node.dir/all' failed
make[1]: *** [camera_pkg/CMakeFiles/camera_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

There is a part of the code that is using cv_bridge package:

if (false == get_dummy_camera_ptr())
{
    ROS_ERROR("Cannot reach camera - pointer to its instance is nullptr");
    return false;
}

auto frame = get_dummy_camera_ref().get_frame();

sensor_msgs::ImagePtr im_msg = cv_bridge::CvImage(std_msgs::Header(), "rgb8", frame.m_data).toImageMsg();
response.image = *im_msg;

ROS_INFO("I have frame!");

return true;

package.xml looks like below:

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

  <maintainer email="x@x.x">X</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->
  <license>TODO</license>

  <url type="website">x</url>

  <author email="x@x.x">X</author>

  <buildtool_depend>catkin</buildtool_depend>

  <depend>roscpp</depend>
  <depend>cv_bridge</depend>

  <build_depend>core_pkg</build_depend>
  <build_depend>message_generation</build_depend>

  <exec_depend>message_runtime</exec_depend>

  <export></export>
</package>

When CMakeLists.txt is as below:

cmake_minimum_required(VERSION 2.8.3)
project(camera_pkg)

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

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  cv_bridge
  sensor_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

## Custom packages
find_package(core_pkg REQUIRED)

## 3rd parties packages
find_package(Boost REQUIRED COMPONENTS
  program_options)

find_package(OpenCV)

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files ...
(more)
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1 Answer

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answered 2018-06-06 06:15:12 -0500

updated 2018-06-06 06:16:04 -0500

I found the solution for my problem.

There was a problem with CMakeLists.txt.

Basically, I create shared library:

add_library(${PROJECT_NAME}
  src/camera/dummy_camera.cpp
  src/handler/camera_service.cpp
  src/handler/camera_info_topic_publisher.cpp
  src/manager/camera_node_manager.cpp
)

That library has 3rd parties dependencies such as OpenCV. I did not link this shared library's target against all depended libraries.

I added that part to CMakeLists.txt and it started to build and link without any error:

target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

I cannot mark my reply as an answer, but it should be treated as an answer for this topic's question.

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Asked: 2018-06-06 04:07:49 -0500

Seen: 95 times

Last updated: Jun 06 '18