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unable to build the package using catkin build

asked 2021-05-08 03:11:42 -0500

updated 2021-05-10 04:50:27 -0500

I have a main.cpp file inside the src folder of my_explore_lite package. This is the code inside my main function (inside the main.cpp) file -

int main(int argc, char** argv) {

    ros::init(argc, argv, "explore_node");

    ros::NodeHandle nh("explore_node"); 

    tf2_ros::Buffer buffer(ros::Duration(10));
    tf2_ros::TransformListener tf(buffer);

    string global_frame, robot_base_frame;  

    nh.param("global_costmap/global_frame", global_frame, std::string("odom"));
    nh.param("global_costmap/robot_base_frame", robot_base_frame, std::string("base_link"));

    costmap_2d::Costmap2DROS *global_costmap = new costmap_2d::Costmap2DROS("global_costmap", buffer);    
    costmap_2d::Costmap2DROS *local_costmap = new costmap_2d::Costmap2DROS("local_costmap", buffer);


    cout << "global_frame: " << global_frame << endl; 
    cout << "robot_base_frame: " << robot_base_frame << endl;



    costmap_2d::Costmap2D* global_costmap_ = global_costmap->getCostmap();  

    unsigned char* global_og = global_costmap_->getCharMap();


    //unsigned char* global_og = global_costmap->getCostmap()->getCharMap();

    size_t size_x = global_costmap_->getSizeInCellsX();
    size_t size_y = global_costmap_->getSizeInCellsY(); 

    cout << "size_x: " << size_x << " size_y: " << size_y << endl;

    size_t idx = global_costmap_->getIndex(10, 10);

    cout << "idx: " << idx << endl;

    cout <<"global_og[idx]: " << (int)global_og[idx] << endl;


    //manipulate_center_og(global_costmap_);

    geometry_msgs::PoseStamped global_pose;


    bool pos = global_costmap->getRobotPose(global_pose);

    //cout << "global_pose: " << global_pose << endl;


    //detect_initial_frontiers(global_costmap);


    explore_level_one(global_costmap);


    //ros::spin();

   //explore_level_one(global_costmap);

    move_base::MoveBase move_base(buffer);
}

This is my CMakelist.txt:

cmake_minimum_required(VERSION 3.0.2)
project(my_explore_lite)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)


find_package(catkin REQUIRED COMPONENTS

  geometry_msgs
  roscpp
  std_msgs
  nav_msgs
  move_base_msgs
  actionlib
  costmap_2d
  move_base


)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)


catkin_package(
  CATKIN_DEPENDS 
    nav_msgs 
    roscpp 
    std_msgs 
    message_runtime
    move_base_msgs
    move_base

  )



 include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}

)


add_executable(explore_node src/main.cpp)

target_link_libraries(
  explore_node 
${catkin_LIBRARIES}   
${Boost_LIBRARIES}
)

When I run catkin build my_explore_lite inside my ~/catkin_ws folder, I am getting the following error -

Errors     << my_explore_lite:make /home/skpro19/catkin_ws/logs/my_explore_lite/build.make.063.log
CMakeFiles/explore_node.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0x28b1): undefined reference to `move_base::MoveBase::MoveBase(tf2_ros::Buffer&)'
main.cpp:(.text+0x28c0): undefined reference to `move_base::MoveBase::~MoveBase()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/skpro19/catkin_ws/devel/.private/my_explore_lite/lib/my_explore_lite/explore_node] Error 1
make[1]: *** [CMakeFiles/explore_node.dir/all] Error 2
make: *** [all] Error 2
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Comments

This is a C++ error, not really a ros issue. Have you included the move_base header file and linked it to the executable?

praskot gravatar image praskot  ( 2021-05-08 05:23:50 -0500 )edit

I have included the following headers in the main.cpp file -

#include <move_base/move_base.h>
#include <move_base_msgs/MoveBaseAction.h>

This is my CMakelist.txt.

skpro19 gravatar image skpro19  ( 2021-05-08 05:35:36 -0500 )edit
1

@skpro19: please do not link to external sites for something as central to your problem as your CMakeLists.txt.

I've included it into your post.

Please remove all the boilerplate comments, such that only the uncommented sections / directives remain.

gvdhoorn gravatar image gvdhoorn  ( 2021-05-08 06:12:07 -0500 )edit

@gvdhoorn okay.

skpro19 gravatar image skpro19  ( 2021-05-10 04:48:35 -0500 )edit

@praskot how do I link it to the executable?

skpro19 gravatar image skpro19  ( 2021-05-11 01:19:26 -0500 )edit

1 Answer

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answered 2021-05-12 02:35:40 -0500

praskot gravatar image

Hi, the problem is it not with your CMakeLists; it's from the navigation package! If you look at catkin_package (here) in the navigation/move_base package, it doesn't create any libraries for your to link to your main.cpp.

Until they update the package, the following fix might work for you,

  • Download and compile the navigation package in your catkin workspace, but with either one of the following changes,
    • Update my_explore_lite CMakeLists.txt as,

`

target_link_libraries(  explore_node move_base ${catkin_LIBRARIES}   ${Boost_LIBRARIES})

or - Update move_base CMakeLists.txt as,

catkin_package(
  INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
  LIBRARIES move_base
  CATKIN_DEPENDS
    dynamic_reconfigure
    geometry_msgs
    move_base_msgs
    nav_msgs
    roscpp
  )
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Comments

I stumbled upon this question on ROS amswers. Somewhere it says this —

I have downloaded the move_base git, and compiled the base_local_planner agent (which requires to gitclone cmake_modules from github as well, by the way).

Has this got something to do with the problem at hand?

skpro19 gravatar image skpro19  ( 2021-05-12 07:51:43 -0500 )edit

Not sure, sorry.

praskot gravatar image praskot  ( 2021-05-13 02:24:51 -0500 )edit

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Asked: 2021-05-08 03:11:42 -0500

Seen: 59 times

Last updated: May 12