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ros-drivers / transport_drivers

A set of ROS2 drivers for transport-layer protocols.
Apache License 2.0
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Consumers of udp_driver Fail to Link #17

Closed JWhitleyWork closed 4 years ago

JWhitleyWork commented 4 years ago

Downstream packages which use udp_driver fail to link after 7660c2a because the dependency on libboost-dev is no longer there. On Ubuntu, the asio package only exists in libboost-dev.

JWhitleyWork commented 4 years ago

Not yet fixed.

esteve commented 4 years ago

@JWhitleyWork do you have any logs about this? I created a simple package (https://github.com/esteve/transport_drivers_consumer) that just prints the libraries that have been exported by udp_driver and the list seems rather sparse (only /usr/lib/x86_64-linux-gnu/libboost_system.so), whereas serial_driver exports many more libraries.

JWhitleyWork commented 4 years ago

@esteve I've found that serial_driver has the issue mentioned here too. Building xsens_node from Autoware.AUTO with the master branch of this repository as a subtree results in:

Starting >>> xsens_node
--- stderr: xsens_node                                       
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::task_io_service::shutdown_service()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_service16shutdown_serviceEv[_ZN5boost4asio6detail15task_io_service16shutdown_serviceEv]+0x7b): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::system::error_category::std_category::equivalent(std::error_code const&, int) const':
xsens_gps_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0x40): undefined reference to `boost::system::generic_category()'
xsens_gps_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0xb9): undefined reference to `boost::system::generic_category()'
xsens_gps_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0x111): undefined reference to `boost::system::generic_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::~epoll_reactor()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactorD2Ev[_ZN5boost4asio6detail13epoll_reactorD5Ev]+0xa4): undefined reference to `boost::system::system_category()'
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactorD2Ev[_ZN5boost4asio6detail13epoll_reactorD5Ev]+0x164): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::task_io_service::~task_io_service()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_serviceD0Ev[_ZN5boost4asio6detail15task_io_serviceD5Ev]+0x53): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::task_io_service::~task_io_service()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_serviceD2Ev[_ZN5boost4asio6detail15task_io_serviceD5Ev]+0x53): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::shutdown_service()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv[_ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv]+0x20f): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o:xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv[_ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv]+0x27d): more undefined references to `boost::system::system_category()' follow
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::system::error_category::std_category::equivalent(int, std::error_condition const&) const':
xsens_gps_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition[_ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition]+0x3f): undefined reference to `boost::system::generic_category()'
xsens_gps_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition[_ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition]+0xd1): undefined reference to `boost::system::generic_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::perform_io_cleanup_on_block_exit::~perform_io_cleanup_on_block_exit()':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor32perform_io_cleanup_on_block_exitD2Ev[_ZN5boost4asio6detail13epoll_reactor32perform_io_cleanup_on_block_exitD5Ev]+0xe3): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::descriptor_state::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code const&, unsigned long)':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16descriptor_state11do_completeEPNS1_15task_io_serviceEPNS1_25task_io_service_operationERKNS_6system10error_codeEm[_ZN5boost4asio6detail13epoll_reactor16descriptor_state11do_completeEPNS1_15task_io_serviceEPNS1_25task_io_service_operationERKNS_6system10error_codeEm]+0x254): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `boost::asio::detail::descriptor_ops::close(int, unsigned char&, boost::system::error_code&)':
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x43): undefined reference to `boost::system::system_category()'
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x56): undefined reference to `boost::system::system_category()'
xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x89): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o:xsens_gps_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x99): more undefined references to `boost::system::system_category()' follow
CMakeFiles/xsens_gps_node_exe.dir/src/xsens_gps_node_main.cpp.o: In function `_GLOBAL__sub_I_main':
xsens_gps_node_main.cpp:(.text.startup+0x2): undefined reference to `boost::system::generic_category()'
xsens_gps_node_main.cpp:(.text.startup+0x7): undefined reference to `boost::system::generic_category()'
xsens_gps_node_main.cpp:(.text.startup+0xc): undefined reference to `boost::system::system_category()'
xsens_gps_node_main.cpp:(.text.startup+0x11): undefined reference to `boost::system::system_category()'
collect2: error: ld returned 1 exit status
make[2]: *** [xsens_gps_node_exe] Error 1
make[1]: *** [CMakeFiles/xsens_gps_node_exe.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::task_io_service::shutdown_service()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_service16shutdown_serviceEv[_ZN5boost4asio6detail15task_io_service16shutdown_serviceEv]+0x7b): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::system::error_category::std_category::equivalent(std::error_code const&, int) const':
xsens_imu_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0x40): undefined reference to `boost::system::generic_category()'
xsens_imu_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0xb9): undefined reference to `boost::system::generic_category()'
xsens_imu_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei[_ZNK5boost6system14error_category12std_category10equivalentERKSt10error_codei]+0x111): undefined reference to `boost::system::generic_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::~epoll_reactor()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactorD2Ev[_ZN5boost4asio6detail13epoll_reactorD5Ev]+0xa4): undefined reference to `boost::system::system_category()'
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactorD2Ev[_ZN5boost4asio6detail13epoll_reactorD5Ev]+0x164): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::task_io_service::~task_io_service()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_serviceD0Ev[_ZN5boost4asio6detail15task_io_serviceD5Ev]+0x53): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::task_io_service::~task_io_service()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail15task_io_serviceD2Ev[_ZN5boost4asio6detail15task_io_serviceD5Ev]+0x53): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::shutdown_service()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv[_ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv]+0x20f): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o:xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv[_ZN5boost4asio6detail13epoll_reactor16shutdown_serviceEv]+0x27d): more undefined references to `boost::system::system_category()' follow
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::system::error_category::std_category::equivalent(int, std::error_condition const&) const':
xsens_imu_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition[_ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition]+0x3f): undefined reference to `boost::system::generic_category()'
xsens_imu_node_main.cpp:(.text._ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition[_ZNK5boost6system14error_category12std_category10equivalentEiRKSt15error_condition]+0xd1): undefined reference to `boost::system::generic_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::perform_io_cleanup_on_block_exit::~perform_io_cleanup_on_block_exit()':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor32perform_io_cleanup_on_block_exitD2Ev[_ZN5boost4asio6detail13epoll_reactor32perform_io_cleanup_on_block_exitD5Ev]+0xe3): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::epoll_reactor::descriptor_state::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code const&, unsigned long)':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail13epoll_reactor16descriptor_state11do_completeEPNS1_15task_io_serviceEPNS1_25task_io_service_operationERKNS_6system10error_codeEm[_ZN5boost4asio6detail13epoll_reactor16descriptor_state11do_completeEPNS1_15task_io_serviceEPNS1_25task_io_service_operationERKNS_6system10error_codeEm]+0x254): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `boost::asio::detail::descriptor_ops::close(int, unsigned char&, boost::system::error_code&)':
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x43): undefined reference to `boost::system::system_category()'
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x56): undefined reference to `boost::system::system_category()'
xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x89): undefined reference to `boost::system::system_category()'
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o:xsens_imu_node_main.cpp:(.text._ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE[_ZN5boost4asio6detail14descriptor_ops5closeEiRhRNS_6system10error_codeE]+0x99): more undefined references to `boost::system::system_category()' follow
CMakeFiles/xsens_imu_node_exe.dir/src/xsens_imu_node_main.cpp.o: In function `_GLOBAL__sub_I_main':
xsens_imu_node_main.cpp:(.text.startup+0x2): undefined reference to `boost::system::generic_category()'
xsens_imu_node_main.cpp:(.text.startup+0x7): undefined reference to `boost::system::generic_category()'
xsens_imu_node_main.cpp:(.text.startup+0xc): undefined reference to `boost::system::system_category()'
xsens_imu_node_main.cpp:(.text.startup+0x11): undefined reference to `boost::system::system_category()'
collect2: error: ld returned 1 exit status
make[2]: *** [xsens_imu_node_exe] Error 1
make[1]: *** [CMakeFiles/xsens_imu_node_exe.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< xsens_node [20.1s, exited with code 2]
JWhitleyWork commented 4 years ago

It looks like it's not a problem with this package but with how something was applied to the xsens_node and velodyne_node in Autoware.AUTO. Closing this issue and tracking in https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/557.