Undefined reference to RosIntrospection functions

edit

Hey guys,

I try to convert the Raw Buffer of a ShapeShifter to its original DataType Structure. But I have Problems understanding the new API. In the wiki the author used functions, which are not available anymore, so I tried to do it with the latest headers available.

As I understand the new API, I have to register the MessageDefinition first and afterwards I can deserialize the Buffer IntoFlatContainer.

Copy of the ros_type_introspection.hpp: In the file is a short description to each function

  void registerMessageDefinition(const std::string& message_identifier,
                                 const ROSType &main_type,
                                 const std::string& definition);

  bool deserializeIntoFlatContainer(const std::string& msg_identifier,
                                    absl::Span<uint8_t> buffer,
                                    FlatMessage* flat_container_output,
                                    const uint32_t max_array_size ) const;

Here is my code:

using namespace RosIntrospection;

static std::vector<uint8_t> buffer;
static FlatMessage flat_container;
Parser parser;    
const std::string& datatype   = msg->getDataType();
const std::string& definition = msg->getMessageDefinition();

ROS_INFO("datatype: %s", datatype.c_str() );

buffer.resize( msg->size() );
ros::serialization::OStream stream(buffer.data(), buffer.size());
msg->write(stream);


parser.registerMessageDefinition(datatype, ROSType("geometry_msgs/Twist"), definition);

The registration of the MessageDefinition fails. And functions like described in the wiki (e.g buildROSTypeMapFromDefinition) are not available anymore.

My current error message:

RosSender.cpp:(.text+0x3cc): undefined reference to `RosIntrospection::ROSType::ROSType(absl::string_view)'
RosSender.cpp:(.text+0x3ed): undefined reference to `RosIntrospection::Parser::registerMessageDefinition(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, RosIntrospection::ROSType const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)

Can anyone tell me how to use the new API correctly to get the original message?

Thank you!!

edit (Add CMakeList.txt):

cmake_minimum_required(VERSION 2.8.3)

set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")
project(RosSender)

set(THIRDPARTY_DIR ${PROJECT_SOURCE_DIR}/../thirdParty)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)


catkin_package(
  INCLUDE_DIRS
  LIBRARIES RosAdapter
  CATKIN_DEPENDS roscpp rospy std_msgs
  DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}    
)
include_directories(
  ${THIRDPARTY_DIR} 
)


add_executable(RosSender src/RosSender.cpp)

target_link_libraries(RosSender ${catkin_LIBRARIES} ${THIRDPARTY_DIR}/oa/myOaLib.so)
target_link_libraries(RosSender /opt/ros/kinetic/lib/libtopic_tools.so)