ament_cmake: linker cannot link shared library, even though it is in <package>_LIBRARIES

asked Mar 1 '23

MasHyke gravatar image

Hi everyone,

I am making a shared library using ament_cmake. Here is the CMakeLists.txt:

cmake_minimum_required(VERSION 3.5)
project(map_operations)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -O3)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(PCL REQUIRED)

include_directories(include ${PCL_INCLUDE_DIRS})

#Add the library
add_library(${PROJECT_NAME} SHARED src/map_operations.cpp)
target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
ament_target_dependencies(${PROJECT_NAME} geometry_msgs)


install(
  DIRECTORY include/
  DESTINATION include
)

install(
  TARGETS ${PROJECT_NAME}
  EXPORT export_${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

ament_package()

In another package, I am trying to consume this library and use it. I use find_package(map_operations) in the CMakeLists.txt and <depend>map_operations</depend> in package.xml.

I am able to build the translation units with the header files ${map_operations_INCLUDE_DIRS}, however when I get to linking, I get a linking error:

/usr/bin/ld: cannot find -lmap_operations: No such file or directory

If I print out the contents of ${map_operations_LIBRARIES} in CMakeLists.txt, it seems that the library is there:

message("${map_operations_LIBRARIES}")
/home/martin/dev/map_ops_ws/install/map_operations/lib/libmap_operations.so

I have tried linking it the following ways:

ament_target_dependencies(exec_name map_operations)
ament_target_dependencies(exec_name ${map_operations_LIBRARIES})
target_link_libraries(exec_name map_operations)
target_link_libraries(exec_name ${map_operations_LIBRARIES})

Does anyone have a clue of what is going on here?

Thank you

Platform

ROS 2 Humble

Ubuntu 22.04

Linux 5.19.0-32-generic

CMake 3.22.1

GCC 11.3.0

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