How do I debug ld error linking tf2 transform of geometry_msgs::Point32

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Hello ROS Answers,

I'm out of ideas for debugging an linking error on my machine. I need help solving the problem below or advice on how to debug further.

Platform:

• Distro: Indigo
• OS: Ubuntu 14.04
• Kernel: 4.4.0-142-generic
• gcc: Ubuntu 4.8.5-4ubuntu8~14.04.2

Problem:

Everything was working and building fine until last Monday.

I'm using catkin_make to build a forked version of the pointcloud_to_laserscan package in perception_pcl. Although the The build fails with some linking error while trying to link the pointcloud_to_laserscan_node executable.

The exact command I use is catkin_make --pkg pointcloud_to_laserscan -DCMAKE_CXX_FLAGS:STRING="" -j1. See the error below:

[  0%] Built target _roscpp_generate_messages_check_deps_GetLoggers
[  0%] Built target _roscpp_generate_messages_check_deps_Logger
[  0%] Built target _roscpp_generate_messages_check_deps_Empty
[  0%] Built target _roscpp_generate_messages_check_deps_SetLoggerLevel
[  0%] Built target roscpp_generate_messages_cpp
[  0%] Built target roscpp_gencpp
[100%] Built target roscpp
[100%] Built target pointcloud_to_laserscan
Linking CXX executable /my_catkinws/devel/lib/pointcloud_to_laserscan/pointcloud_to_laserscan_node
/my_catkinws/devel/lib/libpointcloud_to_laserscan.so: error: undefined reference to 'ros::Time const& tf2::getTimestamp<geometry_msgs::Point32_<std::allocator<void> > >(geometry_msgs::Point32_<std::allocator<void> > const&)'
/my_catkinws/devel/lib/libpointcloud_to_laserscan.so: error: undefined reference to 'std::string const& tf2::getFrameId<geometry_msgs::Point32_<std::allocator<void> > >(geometry_msgs::Point32_<std::allocator<void> > const&)'
/my_catkinws/devel/lib/libpointcloud_to_laserscan.so: error: undefined reference to 'void tf2::doTransform<geometry_msgs::Point32_<std::allocator<void> > >(geometry_msgs::Point32_<std::allocator<void> > const&, geometry_msgs::Point32_<std::allocator<void> >&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [/my_catkinws/devel/lib/pointcloud_to_laserscan/pointcloud_to_laserscan_node] Error 1
make[1]: *** [forked/perception_pcl/pointcloud_to_laserscan/CMakeFiles/pointcloud_to_laserscan_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j1" failed

Debuging Notes:

If have tried rolling back to previous commits across my workspace, but all previously building commits fail in the same way above.

If I comment out line 158 (161 with the headers I added), the package builds:

155  for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){
156  
157    point.x = *iter_x;
158    point.y = *iter_y;
159    point.z = *iter_z;
160    if(!(output.header.frame_id == cloud_msg->header.frame_id)){
161>     //point = tf2_.transform(point, output.header.frame_id, output.header.stamp, cloud_msg->header.frame_id);
162    }

Additionally, I spammed the package with more dependencies and headers. I added tf2_msgs, tf2_sensor_msgs, tf2_geometry_msgs, geometry_msgs, sensor_msgs, and message_generation as build and run dependencies, and I added them to CMakeLists.txt. Below I have the headers for the pointcloud_to_laserscan_nodelet.cpp/h marked with the headers I added to the respective files.

Package Details:

• pointcloud_to_laserscan 1.2.4
• tf2_ros 0.5.12
• geometry_msgs 1.11.8
• nodelet 1.9.3

Headers in pointcloud_to_laserscan_nodelet.cpp:

41 #include <pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h>
42 #include <sensor_msgs/LaserScan.h>
43 #include <pluginlib/class_list_macros.h>
44 #include <sensor_msgs/point_cloud2_iterator.h>
45> #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
46 #include <geometry_msgs/Point32.h>
47> #include <geometry_msgs/TransformStamped.h>
48> #include <geometry_msgs/PointStamped.h>

Headers in pointcloud_to_laserscan_nodelet.h:

44 #include <ros/ros.h>
45 #include <boost/thread/mutex.hpp>
46 
47 #include <nodelet/nodelet.h>
48 #include <tf2/buffer_core.h>
49 #include <tf2_ros/transform_listener.h>
50 #include <tf2_ros/message_filter.h>
51 #include <message_filters ...