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roscpp message_filters Approximate Time - compiling error

asked 2018-11-26 08:31:05 -0600

teflon gravatar image

updated 2018-11-26 09:41:57 -0600


I try to synchronize two topics with the Approximate Time class of the message_filters package. I started with the package-example code from the documentation and adapted it to my purpose. Here is my code

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "stdio.h"

#include "sensor_msgs/Imu.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

using namespace message_filters;
using namespace sensor_msgs;

void sync_cb(const Imu::ConstPtr& imuptr1, const Imu::ConstPtr& imuptr2){
int main(int argc, char** argv)
  ros::init(argc, argv, "imu_error_detection_node");
  static ros::NodeHandle nh;
  message_filters::Subscriber<Imu> imu_sync_1_sub(nh, "fcu1/mavros/imu/data",1);
  message_filters::Subscriber<Imu> imu_sync_2_sub(nh, "fcu2/mavros/imu/data",1);
  typedef sync_policies::ApproximateTime<Imu, Imu> MySyncPolicy;
  Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), imu_sync_1_sub, imu_sync_2_sub);
  sync.registerCallback(boost::bind(&sync_cb, _1, _2));
  return 0;

I get the following error.

CMakeFiles/imu_error_detection_node.dir/src/imu_error_detection_node.cpp.o:-1: In function `message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Imu_<std::allocator<void> >, sensor_msgs::Imu_<std::allocator<void> >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::disconnectAll()':

/opt/ros/kinetic/include/message_filters/synchronizer.h:351: error: undefined reference to `message_filters::Connection::disconnect()'

My CmakeLists.txt File looks like this (without outcommented lines):

cmake_minimum_required(VERSION 2.8.3)
find_package(catkin REQUIRED COMPONENTS
# include
add_executable(imu_error_detection_node src/imu_error_detection_node.cpp)
target_link_libraries(imu_error_detection_node ${catkin_LIBRARIES})
add_dependencies(imu_error_detection_node PX4_data_observer_generate_messages_cpp)

I searched for a long time but I can not find the mistake. Do you have any ideas? Best regards and thank you in advice

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The error you post appears to be a linker error, so including the snippet of code is good, but your CMakeLists.txt is more important in this case.

gvdhoorn gravatar image gvdhoorn  ( 2018-11-26 09:10:23 -0600 )edit

Thx for the hint. I add my CMakeLists.txt-File

teflon gravatar image teflon  ( 2018-11-26 09:37:16 -0600 )edit

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answered 2018-11-26 10:34:52 -0600

gvdhoorn gravatar image

updated 2018-11-27 06:24:49 -0600

I don't see message_filters nor sensor_msgs listed as dependencies of your package (catkin_package(..)) nor do you find_package(..) them in your find_package(catkin REQUIRES COMPONENTS ..) call.

Try adding them there.

You may want to take a look at the catkin documentation - howtos for more information on correctly expressing (build) dependencies and editing your CMakeLists.txt.

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Yes! It works. A beginner mistake... Thank you a lot!

teflon gravatar image teflon  ( 2018-11-27 06:16:17 -0600 )edit

Could you please mark the question as answered by ticking the checkmark (✓) to the left of the answer if you feel it has been answered? Thanks.

gvdhoorn gravatar image gvdhoorn  ( 2018-11-27 06:25:43 -0600 )edit

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Asked: 2018-11-26 08:31:05 -0600

Seen: 416 times

Last updated: Nov 27 '18