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Linking problems with a classes in different packages

asked 2021-06-05 09:30:17 -0500

bach gravatar image

updated 2022-01-22 16:16:15 -0500

Evgeny gravatar image

Hi,

I have defined the class Person in the social_layers package. Now I want to use it in a different package. So I have included the header in this way:

#include "../../../social_layers/include/social_layers/person.hpp"

And then is use it in the code. Unfortunately, I got this error: 

/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/libnew_policies_system.so: undefined reference to `Person::Person(int, unsigned char, double, geometry_msgs::Pose_<std::allocator<void> >)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/new_policies_system/test_motion_estimation] Error 1
make[1]: *** [CMakeFiles/test_motion_estimation.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/libnew_policies_system.so: undefined reference to `Person::Person(int, unsigned char, double, geometry_msgs::Pose_<std::allocator<void> >)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/new_policies_system/test_input] Error 1
make[1]: *** [CMakeFiles/test_input.dir/all] Error 2
/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/libnew_policies_system.so: undefined reference to `Person::Person(int, unsigned char, double, geometry_msgs::Pose_<std::allocator<void> >)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/alberto/tiago_dual_public_ws/devel/.private/new_policies_system/lib/new_policies_system/test_person_attention] Error 1
make[1]: *** [CMakeFiles/test_person_attention.dir/all] Error 2
make: *** [all] Error 2

In the original package, I get no errors. Can someone help me to understand why?

EDIT: add CMakeLists

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
cmake_minimum_required(VERSION 3.0.2)
project(new_policies_system)

find_package(catkin REQUIRED COMPONENTS 
roscpp 
std_msgs 
nav_msgs 
map_msgs 
message_generation grid_map_ros 
costmap_2d 
eigen_conversions 
dynamic_reconfigure
continuous_input
grid_map_core
grid_map_ros
grid_map_cv
grid_map_filters
grid_map_loader
grid_map_msgs
grid_map_octomap
grid_map_rviz_plugin
grid_map_visualization
geometry_msgs
sensor_msgs
cv_bridge
octomap_msgs
filters
motion_estimation
social_layers
gazebo_person_detection
)


find_package(cmake_modules REQUIRED)

find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
  find_package(PkgConfig REQUIRED)
  pkg_check_modules(EIGEN3 REQUIRED eigen3)
  set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS})
endif()

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   continuous_input.msg
)

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}})

generate_dynamic_reconfigure_options (
        cfg/Policy.cfg
)


catkin_package(
  INCLUDE_DIRS 
    include
  LIBRARIES 
    ${PROJECT_NAME}
  CATKIN_DEPENDS
    roscpp
    message_runtime
  DEPENDS 
    EIGEN3
)


add_library(new_policies_system
            src/Policy.cpp
            src/MathUtilities.cpp
            src/GeometryUtilities.cpp
                        src/Input.cpp
                        src/MotionEstimation.cpp
                    src/PersonAttention.cpp
            src/UserIntention.cpp


)

target_link_libraries(${PROJECT_NAME} 
                      ${catkin_LIBRARIES} 
                      ${EIGEN3_LIBRARIES}
)



add_dependencies(${PROJECT_NAME} 
                 ${catkin_EXPORTED_TARGETS}
)

add_executable(test_input src/test_input.cpp)
target_link_libraries(test_input ${PROJECT_NAME})
add_dependencies(test_input ${PROJECT_NAME}_gencfg)

add_executable(test_motion_estimation src/test_motion_estimation.cpp)
target_link_libraries(test_motion_estimation ${PROJECT_NAME})
add_dependencies(test_motion_estimation ${PROJECT_NAME}_gencfg)

add_executable(test_person_attention src/test_person_attention.cpp)
target_link_libraries(test_person_attention ${PROJECT_NAME})
add_dependencies(test_person_attention ${PROJECT_NAME}_gencfg)



add_executable(continuous_input_stub src/continuous_input_stub.cpp)
target_link_libraries(continuous_input_stub ${PROJECT_NAME})
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Comments

Can you post your cmakelists.txt?

djchopp gravatar image djchopp  ( 2021-06-05 10:33:05 -0500 )edit

Yes of course. I have updated the question.

bach gravatar image bach  ( 2021-06-05 10:47:21 -0500 )edit

Are you building a person library or adding it to an existing library target in social_layers? If so, is its library name being added in the catkin_package of social_layers under LIBRARIES? I would also change your include statement to #include <social_layers/person.hpp> as your new package and social_layers may not always have the same relative path between them. If you can, post the add_library and catkin_package from social_layers as well

djchopp gravatar image djchopp  ( 2021-06-05 11:40:27 -0500 )edit

These come from the CMakelists of social_layers:

catkin_package(
#  INCLUDE_DIRS include
  #LIBRARIES social_layers
  CATKIN_DEPENDS pal_detection_msgs 
#  DEPENDS system_lib
)

 add_library(person
   src/person.cpp
)

Thank you very much for your help. If you need something more please tell me, I'm not so good with CMake.

bach gravatar image bach  ( 2021-06-06 03:19:15 -0500 )edit

UPDATE: By modifying the CMakelists of social_layers in this way: 

catkin_package(
#  INCLUDE_DIRS include
  LIBRARIES social_layers
  CATKIN_DEPENDS pal_detection_msgs 
#  DEPENDS system_lib
)

 add_library(social_layers
   src/person.cpp
)

I was able to compile, but I get this warning: 

Warning: Cannot symlink from /home/alberto/tiago_dual_public_ws/devel/.private/social_layers/lib/libsocial_layers.so to existing file /home/alberto/tiago_dual_public_ws/devel/lib/libsocial_layers.so

That may lead to this runtime error: 

/home/alberto/tiago_dual_public_ws/devel/lib/new_policies_system/test_person_attention: symbol lookup error: /home/alberto/tiago_dual_public_ws/devel/lib/libnew_policies_system.so: undefined symbol: _ZN6PersonC1EihdN13geometry_msgs5Pose_ISaIvEEE
bach gravatar image bach  ( 2021-06-06 03:55:41 -0500 )edit

Great! That is what we were looking for. I think you are passed the initial linking problem. For reference, you could have kept the library name as person and just added that after the LIBRARIES tag in the catkin_package. This would be needed if you did have another library already named social_layers.

Are you using catkin build or catkin_make. I would be interested in seeing what your build command looks like if you are using any configuration options. This new problem looks to be an issue with catkin_tools based on this question.

Can you delete your build, devel, and logs folder and try building again.

If that does not work, update catkin_tools with pip install catkin_tools --upgrade.

If that does not work, try switching build systems (ie use catkin_make instead of catkin build). Let me know how it goes.

djchopp gravatar image djchopp  ( 2021-06-06 10:19:45 -0500 )edit

Well, what happened is really weird. I just followed your suggestion and I have kept the library name as person. After building with catkin build <package_name> I got the same warning, but now I have no errors in runtime.

Perhaps there was some buffered information that have been deleted when I restarted the PC to re-try.

bach gravatar image bach  ( 2021-06-06 11:58:32 -0500 )edit

I would still try clearing your folders and updating catkin_tools. Switching to catkin_make would be to confirm the issue was due to catkin_tools. If the name social_layers was used for another library target or executable target then that might explain the runtime error (essentially linking to the wrong library because of the name clash).

djchopp gravatar image djchopp  ( 2021-06-06 12:19:02 -0500 )edit

I have done some experiments following your advice. Firstly I clean my workspace and compile by catkin_make. I got this error: 

CMake Error at /home/alberto/tiago_dual_public_ws/devel/share/social_layers/cmake/social_layersConfig.cmake:173 (message):
  Project 'new_policies_system' tried to find library 'social_layers'.  The
  library is neither a target nor built/installed properly.  Did you compile
  project 'social_layers'? Did you find_package() it before the subdirectory
  containing its code is included?
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  new_policies_system/CMakeLists.txt:5 (find_package)


-- Configuring incomplete, errors occurred!

Then I re-clean and compile by catkin build. No errors in this case, no warnings too.

bach gravatar image bach  ( 2021-06-07 04:36:56 -0500 )edit

inevery case, it is not yet finished. If I use #include <social_layers/person.hpp>, I obtain this error. 

In file included from /home/alberto/tiago_dual_public_ws/src/new_policies_system/src/UserIntention.cpp:4:0:
/home/alberto/tiago_dual_public_ws/src/new_policies_system/include/new_policies_system/UserIntention.hpp:14:10: fatal error: social_layers/person.hpp: No such file or directory
 #include "social_layers/person.hpp"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
bach gravatar image bach  ( 2021-06-07 12:54:11 -0500 )edit

Can you compare against what I put in my answer below? Make sure social_layers has all the same catkin_package definition.

djchopp gravatar image djchopp  ( 2021-06-07 14:08:19 -0500 )edit
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1 Answer

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answered 2021-06-07 13:06:12 -0500

djchopp gravatar image

Compiling the comments into an answer:

Package: new_policies_system

CMakeLists.txt should include:

find_package(catkin REQUIRED COMPONENTS 
  roscpp 
  social_layers
  ...
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES new_policies_system
  CATKIN_DEPENDS
    roscpp
    social_layers
    ...
  DEPENDS 
    EIGEN3
)

include_directories(
  include 
  ${catkin_INCLUDE_DIRS} 
  ...
)

add_library(new_policies_system
  src/Policy.cpp
  ...
)

target_link_libraries(new_policies_system 
  ${catkin_LIBRARIES} 
  ${EIGEN3_LIBRARIES}
)

add_dependencies(new_policies_system 
  ${catkin_EXPORTED_TARGETS}
)

Note I have replaced {PROJECT_NAME} with new_policies_system to be consistent across the library, linking, and dependencies.

package.xml should include:

<depend>social_layers</depend>

Package: social_layers

CMakeLists.txt should include:

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES person
  CATKIN_DEPENDS pal_detection_msgs 
)

add_library(person
  src/person.cpp
)

target_link_libraries(person 
  ${catkin_LIBRARIES} 
)

Note I have added a target_link_libraries for the person library. If you use any external code in person then you should keep this call in there. Only add the names of libraries you are creating in this package to the catkin_package LIBRARIES section. IE do NOT keep social_layers in there unless you have an add_library(social_layers src/path/to/code.cpp)

Final note when making changes to library names and CMakeLists in general. If you are experiencing strange behavior, try clearing out devel, build, and log directories. Just because you changed the name of something and recompile, the original probably still exists with the wrong name.

The ROS wiki has in depth info as well and is worth a read.

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Comments

Very helpful, thank you so much! Now it seems all ok!

bach gravatar image bach  ( 2021-06-08 11:42:48 -0500 )edit
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Asked: 2021-06-05 09:30:17 -0500

Seen: 294 times

Last updated: Jun 07 '21

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