Catkin build fails to find reference to library inside the same package

edit

Hi to all! first of all, english is not my native language :D I'm sorry if there are too many mistakes, here we go.

I decided to add a library master_utils inside the package master_core to add some extended functions to some msg types created inside the package. I followed the docs to add/install the library with the rest of the package.

The strange situation that I'm going through is:

• When calling a function defined in master_utils from another package (adding master_core as dependecy and #include <master_core/master_utils.h>) it builds with no error and has the expected result.
• When calling the same function defined in master_utils on the file RSI_parser.cpp (both inside the same package master_core) I get a build error.

The error catkin build throws is:

/home/lewis/master/mestrado/src/ROS/catkin_ws/src/master_core/src/controller/RSI_parser.cpp:37: error: undefined reference to `stampedTFtoKukaPose(tf::StampedTransform&, master_core::KukaPose_<std::allocator<void> >&)'

I found this post that is closely related to my problem, but didn't find anything related to the solution on the docs page I was following. Maybe that points that the problem is more related to CMakeLists than to ROS.

I don't know if it's related, but when adding the #include on .cpp files, all of the generated headers are duplicated on QT auto completion, except master_utils.

The package structure and files are as the following:

package structure:

master_core
-include
  -master_core
    -master_utils.h
-src
  -master_utils.cpp
  -controller
    -RSI_parser.cpp

CMakeLists.txt (Omitting some add_executable/add_dependencies/target_link_libraries from other nodes)

cmake_minimum_required(VERSION 2.8.3)
project(master_core)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  message_generation
  geometry_msgs
  tf
  master_moveit
  moveit_ros_planning_interface
  urdf
)

add_message_files(
  FILES
  RobotAxis.msg
  KukaPose.msg
  RSI.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs  # Or other packages containing msgs
  geometry_msgs
  moveit_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES master_utils
  CATKIN_DEPENDS roscpp
  message_runtime
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(master_utils src/master_utils.cpp)
add_dependencies(master_utils ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(master_utils ${catkin_LIBRARIES})

add_executable(RSI_node src/controller/RSI_parser.cpp)
add_dependencies(RSI_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(RSI_node ${catkin_LIBRARIES})

install(TARGETS master_utils
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )

 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )

master_utils.h

#ifndef MASTER_UTILS_H
#define MASTER_UTILS_H

#include <ros/ros.h>
#include <master_core/KukaPose.h>
#include <master_core/RSI.h>
#include <master_core/RobotAxis.h>
#include <tf/tf.h>

void stampedTFtoKukaPose(tf::StampedTransform&, master_core::KukaPose&);

#endif

RSI_parser.cpp

...
#include <master_core/master_utils.h>
...

...
void sendRSI() {
...
tf::StampedTransform ref_to_RIst;
master_core::KukaPose RIst;
stampedTFtoKukaPose(ref_to_RIst, RIst);
...
}

I think maybe I left a configuration out of CMakeLists.txt, or am missing a concept about the compiler. (The probability is high, as I'm no C++ expert)

Do I have to develop libraries on a separate package or is it possible to develop it as extension from the same package as I'm trying to do?

Thank you very much for your attention!