Hello.

I'm beggeing with ROS I'm studing CMakeLists.txt using diffrent approches to execute same code. I have a problem with the linking phase of compilation of two user defined packages :

pkg1 : spheroimureader I've defined a Class ImuTopicReader

pkg 2 : spherocrashserver I've defined a Class CrashServer

I want to use the Class ImuTopicReader inside CrashServer class

the files:

• spheroimureader :

  ->src/topic_reader.h
  ->src/topic_reader.cpp
  

  • spherocrashserver :

     ->/include/sphero_crash_server/topic_reader.h
     ->src/topic_reader.h
     ->src/topic_reader.cpp
    

I've got these problems :

fatal error: topic_reader.h: no such file or directory

CMakeLists.txt for spherotopicreader :

---

    cmake_minimum_required(VERSION 2.8.3)
    project(sphero_imu_reader)

    ## 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
      sensor_msgs
      roscpp
    )
    catkin_package(
    # INCLUDE_DIRS include
    #  LIBRARIES imu_topic_reader
      CATKIN_DEPENDS sensor_msgs roscpp
    #  DEPENDS system_lib
    )
    ## Specify additional locations of header files
    ## Your package locations should be listed before other locations
    include_directories(
    # include
      ${catkin_INCLUDE_DIRS}
    )

    add_executable(${PROJECT_NAME}_node src/topic_reader.cpp)
    add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS})   
    target_link_libraries(${PROJECT_NAME}_node
       ${catk
    ## Mark cpp header files for installation
     install(DIRECTORY include/${PROJECT_NAME}/
       DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
       FILES_MATCHING PATTERN "*.h"
       PATTERN ".svn" EXCLUDE
     )

---

package.xml for Spheroimureader

      <buildtool_depend>catkin</buildtool_depend>
      <build_depend>sensor_msgs</build_depend>
      <build_depend>roscpp</build_depend>
      <build_export_depend>sensor_msgs</build_export_depend>
      <build_export_depend>roscpp</build_export_depend>
      <exec_depend>sensor_msgs</exec_depend>
      <exec_depend>roscpp</exec_depend>

---

topicreader.h for spheroimu_reader pkg

    #ifndef SPHERO_IMU_READER
    #define SPHERO_IMU_READER
    #include "ros/ros.h"
    #include "sensor_msgs/Imu.h"
    #endif
    class ImuTopicReader
    {
        private:
            std::string name_;
            ros::NodeHandle n_;
            ros::Subscriber subs_;
            sensor_msgs::Imu imu_;
        public:

            ImuTopicReader(std::string name)
            {
                name_ = name;
                subs_ = n_.subscribe(name_,1,&ImuTopicReader::imuCallback,this);
            }   
            void imuCallback(const sensor_msgs::Imu::ConstPtr& msg);    
            sensor_msgs::Imu getImu();
    };

---

CMakeLists.txt for spherocrashserver :

    cmake_minimum_required(VERSION 2.8.3)
    project(sphero_crash_server)
    add_compile_options(-std=c++11)
    find_package(catkin REQUIRED COMPONENTS
      roscpp
      sensor_msgs
      sphero_imu_reader
    )
    catkin_package(
     CATKIN_DEPENDS roscpp sphero_imu_reader sensor_msgs
    )

    include_directories(
    # include
      ${catkin_INCLUDE_DIRS}  
    )
    add_executable(${PROJECT_NAME}_node src/server.cpp)
    add_dependencies(${PROJECT_NAME}_node } ${catkin_EXPORTED_TARGETS} ${catkin_LIBRARIES})
    target_link_libraries(${PROJECT_NAME}_node
       ${catkin_LIBRARIES}
    )
    install(DIRECTORY include/${PROJECT_NAME}/
      DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
      FILES_MATCHING PATTERN "*.h"
      PATTERN ".svn" EXCLUDE
    )

---

package.xml for spherocrashserver :

      <buildtool_depend>catkin</buildtool_depend>
      <build_depend>roscpp</build_depend>
      <build_depend>sphero_imu_reader</build_depend>
      <build_depend>sensor_msgs</build_depend>
      <build_export_depend>roscpp</build_export_depend>
      <build_export_depend>sphero_imu_reader</build_export_depend>
      <build_export_depend>sensor_msgs</build_export_depend>
      <exec_depend>roscpp</exec_depend>
      <exec_depend>sphero_imu_reader</exec_depend>
      <exec_depend>sensor_msgs</exec_depend>

---

server.h in pgk spherocrashserver :

    #include "ros/ros.h"
    #include "sphero_crash_server/topic_reader.h"
    #include "std_srvs/Trigger.h"
    #include "sensor_msgs/Imu.h"
    #include <algorithm>
    #include <vector>

    class CrashServer
    {
        private:

            ros::NodeHandle n_;
            ImuTopicReader imu_topic_;
            float threshold_;
            ros::ServiceServer service_;
            std::string name_;
        public:
            CrashServer (std::string name,float threshold)
            {

                name_ = name;
                imu_topic_ = ImuTopicReader(name_);
                threshold_ = threshold;
                service_ = n_.advertiseService("detect_crash_action_serv",&CrashServer::detectionCallback,this);
                std::cout << "done" <<std::endl;
            }   
            std::string sectorDetection();
            bool detectionCallback(std_srvs::Trigger::Request  &req , std_srvs::Trigger::Response &res);
    };

catkin_ws/
  src/
    sphero_imu_reader/
      src/
        topic_reader.cpp
      include/
        sphero_imu_reader/
          topic_reader.h
    sphero_crash_server/
      src/
        server.cpp
      include/
        sphero_crash_server/
          server.h

INCLUDE_DIRS include

#include "sphero_imu_reader/topic_reader.h"