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Undefined reference to `GeographicLib::UTMUPS::Forward(...)

asked 2021-08-25 16:33:08 -0500

akuramshin gravatar image

updated 2021-08-25 18:40:36 -0500

I am running ROS melodic on Ubuntu 18.04. I installed robot_localization via: sudo apt-get install ros-melodic-robot-localization

I am trying to use the RobotLocalization::NavsatConversions::LLtoUTM function from the robot_localization function but I am getting the following error:

CMakeFiles/gps_waypoint_mapping.dir/src/gps_waypoint_mapping.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)':
gps_waypoint_mapping.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
gps_waypoint_mapping.cpp:(.text+0xa1): undefined reference to `GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)'

The snippet of code from gps_waypoint_mapping.cpp that uses LLtoUTM is:

geometry_msgs::PointStamped latLongtoUTM(double lati_input, double longi_input)
{

    double utm_x = 0, utm_y = 0;
    geometry_msgs::PointStamped UTM_point_output;

    //convert lat/long to utm
    RobotLocalization::NavsatConversions::LLtoUTM(lati_input, longi_input, utm_y, utm_x, utm_zone);

    //Construct UTM_point and map_point geometry messages
    UTM_point_output.header.frame_id = "utm";
    UTM_point_output.header.stamp = ros::Time(0);
    UTM_point_output.point.x = utm_x;
    UTM_point_output.point.y = utm_y;
    UTM_point_output.point.z = 0;

    return UTM_point_output;
}

I am pretty sure that GeographicLib is one of the dependencies of robot_localization so it was installed alongside. I ran rosdep install --from-paths src --ignore-src -r -y aswell to make sure.

Here is my CMakeLists.txt, sorry I am new to ROS so I didnt really know what to include and what not to include:

cmake_minimum_required(VERSION 3.0.3)
project(outdoor_waypoint_nav)

set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_C_STANDARD 11)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  tf
 roslib
 roslaunch
)

catkin_package()
roslaunch_add_file_check(launch)

include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(gps_waypoint src/gps_waypoint.cpp)
#add_executable(gps_waypoint_continuous src/gps_waypoint_continuous.cpp)
add_executable(gps_waypoint_continuous1 src/gps_waypoint_continuous1.cpp)
add_executable(gps_waypoint_continuous2 src/gps_waypoint_continuous2.cpp)
add_executable(gps_waypoint_mapping src/gps_waypoint_mapping.cpp)
add_executable(collect_gps_waypoints src/collect_gps_waypoints.cpp)
add_executable(plot_gps_waypoints src/plot_gps_waypoints.cpp)
add_executable(calibrate_heading src/calibrate_heading.cpp)
add_executable(safety_node src/safety_node.cpp)
add_executable(switch_controllers src/switch_controllers.cpp)

target_link_libraries(gps_waypoint ${catkin_LIBRARIES})
# target_link_libraries(gps_waypoint_continuous        ${catkin_LIBRARIES})
target_link_libraries(gps_waypoint_continuous1     ${catkin_LIBRARIES})
target_link_libraries(gps_waypoint_continuous2 ${catkin_LIBRARIES})
target_link_libraries(gps_waypoint_mapping ${catkin_LIBRARIES})
target_link_libraries(collect_gps_waypoints ${catkin_LIBRARIES})
target_link_libraries(plot_gps_waypoints ${catkin_LIBRARIES})
target_link_libraries(calibrate_heading ${catkin_LIBRARIES})
target_link_libraries(safety_node ${catkin_LIBRARIES})
target_link_libraries(switch_controllers ${catkin_LIBRARIES})

install(DIRECTORY  launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
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Comments

Would be good to also include the snippet of your CMakeLists.txt that builds the chunk of code shown in the original post. This is likely a linking error caused by missing something in the CMakeLists.txt

jarvisschultz gravatar image jarvisschultz  ( 2021-08-25 17:44:59 -0500 )edit

You are using a function from robot_localiztion but you haven’t link against it in your CmakeLists.txt. Add robot_localization package to find_packages() function

Fetullah Atas gravatar image Fetullah Atas  ( 2021-08-26 01:32:45 -0500 )edit

Thanks for the reply! I just added robot_localization to my find_packages() but the same problem persists.

akuramshin gravatar image akuramshin  ( 2021-08-26 12:44:44 -0500 )edit

try download the old version of navsat_conversions.h from github and modify the include header in your gps cpp file to point to this .h file.

wkbot gravatar image wkbot  ( 2021-08-31 22:19:45 -0500 )edit
1

Hey, did it worked? I am facing this problem too . CMakeFiles/plot_gps_waypoints.dir/src/plot_gps_waypoints.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': plot_gps_waypoints.cpp:(.text+0x64): undefined reference toGeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)' plot_gps_waypoints.cpp:(.text+0xa1): undefined reference to `GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char="">, std::allocator<char> >&)' collect2: error: ld returned 1 exit status waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints' failed make[2]: * [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints] Er

troyelex gravatar image troyelex  ( 2021-09-15 05:37:16 -0500 )edit

3 Answers

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2

answered 2021-10-07 02:43:23 -0500

industriumph_engineer gravatar image

You can try clone git repository "robot_localization" at: https://github.com/cra-ros-pkg/robot_... into " /catkin_ws/src/ ". Then catkin_make. It works for me.

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Comments

This worked for me too. Thanks for sharing.

RRK gravatar image RRK  ( 2022-02-01 07:29:01 -0500 )edit
0

answered 2022-05-20 16:53:01 -0500

Debanik Roy gravatar image

updated 2022-05-20 17:24:25 -0500

jayess gravatar image

Add robot_localization into CmakeList.txt and package.xml In CmakeList.txt --->

find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf
roslib
roslaunch
robot_localization
)

In package.xml -->

<build_depend>robot_localization</build_depend>
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0

answered 2021-09-16 05:53:09 -0500

PabloV gravatar image

Hi,

I was able to fix these errors by adding the dependency to the package.xml file too. As follow:

<?xml version="1.0"?>
<package>
<name>outdoor_waypoint_nav</name>
<version>0.0.0</version>
<description>The outdoor_waypoint_nav package</description>

<maintainer email="nicholas.c.charron@gmail.com">Nick</maintainer>

<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>roslaunch</build_depend>
<build_depend>robot_localization</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>hector_mapping_nav</run_depend>
<run_depend>husky_control</run_depend>
<run_depend>husky_customization</run_depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
  <!-- Other tools can request additional information be placed here -->

</export>
</package>
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Asked: 2021-08-25 16:33:08 -0500

Seen: 552 times

Last updated: 2 days ago