using libfranka with Qt yields 'undefined reference' error

[sdfzz]

Hi all,

I'm trying to use libfranka with Qt.

I've installed libfranka as described in "https://frankaemika.github.io/docs/installation_linux.html" following "building libfranka", and I can run examples without any problems.

However, when I try to write my own code in Qt, I get the following error:

/root/Projects/TEST/frankaTest/mainwindow.cpp:-1: error: undefined reference to `franka::Robot::Robot(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, franka::RealtimeConfig, unsigned long)'

I've added libfranka/include folder to my ".pro" file and I can import all headers alright.

My header:

#include <franka/duration.h>
#include <franka/exception.h>
#include <franka/model.h>
#include <franka/robot.h>

My source:

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    try{
        franka::Robot robot("127.0.0.1");
    } catch(franka::Exception const& e){
        qDebug() << e.what();
    }
}

Any help would be greatly appreciated

Sincerely,

Steve

[sdfzz]

I'm happy to post the solution to my own question.

To use libfranka on Qt,

1. Install libfranka library, follwoing "building libfranka" of "https://frankaemika.github.io/docs/installation_linux.html" . I did not build/install deb package.
2. Create a new qt project, open .pro file, right click, select 'add library'. Choose 'external library' and select libfranka.so file in libfranka/build folder
3. Add the following to .pro: INCLUDEPATH += /path_to_libfranka/include/

Now I can build the code above. Hope this helps other qt newbies like me.

Sincerely,

Steve