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Undefined symbol error when using tf2_ros::BufferInterface::transform

asked 2020-03-27 19:19:11 -0500

alexe gravatar image

updated 2020-03-27 19:31:13 -0500

I'm trying to use the tf2_ros::BufferInterface::transform method on a PointCloud2 message like so (tf_buffer_ is a tf2_ros::Buffer object):

void someMethod(const sensor_msgs::PointCloud2ConstPtr& input_cloud)
{
  const auto transformed_cloud = tf_buffer_.transform<sensor_msgs::PointCloud2>(*input_cloud,
      some_frame_id, ros::Duration(0.1));

  ... do some stuff ...
}

The code compiles fine, but fails with a symbol lookup error during run time:

undefined symbol: ros::Time const& tf2::getTimestamp<sensor_msgs::PointCloud2_<std::allocator<void> > >(sensor_msgs::PointCloud2_<std::allocator<void> > const&)

I have no idea what is going on. I tried to include all sorts of packages (tf2, tf2_ros, tf2_msgs, tf2_sensor_msgs, geometry_msgs, sensor_msgs) in both my CMakeLists and my package.xml, but that doesn't help.

It's worthwhile mentioning that I'm using the same tf2_ros::Buffer object before this point in the program to transform a geometry_msgs::PointStamped message, which has the same frame_id as the point cloud, into the same target frame, and there it works just fine. Just for this PointCloud2 message it seems to fail.

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answered 2020-03-27 20:23:51 -0500

tfoote gravatar image

To get template instantiations you also need to make sure to #include the right headers.

For transforming PointCloud2 datatypes you need #include "tf2_sensor_msgs/tf2_sensor_msgs.h" in your source code to resolve the symbols.

That's in addition to having tf2_sensor_msgs appropriately in your CMakeLists.txt and package.xml.

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That solved it, thank you so much! Follow-up question (since I'm a bit of a noob): Why does this only fail at run time and not already at compile time? Or put differently, I guess I don't yet understand why I need to include tf2_sensor_msgs/tf2_sensor_msgs.h at all, since I'm not explicitly using any of its types in my code.

alexe gravatar image alexe  ( 2020-03-28 06:44:34 -0500 )edit

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Asked: 2020-03-27 19:19:11 -0500

Seen: 23 times

Last updated: Mar 27