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ros / dynamic_reconfigure

BSD 3-Clause "New" or "Revised" License
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Undefined reference to `dynamic_reconfigure::__init_mutex__` #155

Closed dupeljan closed 4 years ago

dupeljan commented 4 years ago

Still experience same error as here #115: Undefined reference to dynamic_reconfigure::__init_mutex__ .

Here is my CMakeLists.txt :

cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
project(CartConrolPlugin)

# Generate code from our own custom messages
# find_package catkin and genmsg, required for message generation macros
find_package(catkin REQUIRED COMPONENTS 
    dynamic_reconfigure)
find_package(genmsg REQUIRED)
find_package(dynamic_reconfigure REQUIRED)
# Enumerate our custom messages files
add_message_files(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} FILES msg/Velocity.msg msg/Position.msg)
generate_messages(DEPENDENCIES)
# Generate dynamic reconf
generate_dynamic_reconfigure_options(
  cfg/PIDconf.cfg
  #...
)

#find ros
find_package(roscpp REQUIRED)
find_package(std_msgs REQUIRED)
include_directories(${roscpp_INCLUDE_DIRS})
include_directories(${std_msgs_INCLUDE_DIRS})

#find gazebo
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")

#find qt
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTORCC ON)
find_package(Qt5 REQUIRED COMPONENTS Widgets)

#build libruary
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS} ")
add_library(main SHARED main.cc)
add_dependencies(main ${PROJECT_NAME}_generate_messages)
target_link_libraries(main ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${roscpp_LIBRARIES})

set(CMAKE_BUILD_TYPE Debug)
#build client
#add_executable(client client.cc)
add_executable(client 
        client/main.cpp 
        client/mainwindow.cpp 
        client/mainwindow.h 
        client/mainwindow.ui 
        client/resources.qrc
        client/cartcontrollerwidget.cpp
        client/cartcontrollerwidget.h
                client/rospublisher.cpp
                client/rospublisher.h
                client/cartkinematic.cpp
                client/cartkinematic.h
    )
target_link_libraries(client ${roscpp_LIBRARIES} Qt5::Widgets)
add_dependencies(client ${PROJECT_NAME}_generate_messages)

# Build cfg server
add_executable(drfServer  drcfServer.cpp)
add_dependencies(drfServer ${PROJECT_NAME}_generate_messages ${PROJECT_NAME}_gencfg)
target_link_libraries(drfServer ${Boost_LIBRARIES} ${roscpp_LIBRARIES})
dupeljan commented 4 years ago

Solve link problem:

cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
project(CartConrolPlugin)

# Generate code from our own custom messages
# find_package catkin and genmsg, required for message generation macros
find_package(catkin REQUIRED COMPONENTS 
    dynamic_reconfigure
    roscpp
    rospy)
find_package(genmsg REQUIRED)
find_package(dynamic_reconfigure REQUIRED)
# Enumerate our custom messages files
add_message_files(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} FILES msg/Velocity.msg msg/Position.msg)
generate_messages(DEPENDENCIES)
# Generate dynamic reconf
generate_dynamic_reconfigure_options(
  cfg/PIDconf.cfg
  #...
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

#find ros
find_package(roscpp REQUIRED)
find_package(std_msgs REQUIRED)
include_directories(${roscpp_INCLUDE_DIRS})
include_directories(${std_msgs_INCLUDE_DIRS})

#find gazebo
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")

#find qt
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTORCC ON)
find_package(Qt5 REQUIRED COMPONENTS Widgets)

#build libruary
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS} ")
add_library(main SHARED main.cc)
add_dependencies(main ${PROJECT_NAME}_generate_messages)
target_link_libraries(main ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${roscpp_LIBRARIES})

set(CMAKE_BUILD_TYPE Debug)
#build client
#add_executable(client client.cc)
add_executable(client 
        client/main.cpp 
        client/mainwindow.cpp 
        client/mainwindow.h 
        client/mainwindow.ui 
        client/resources.qrc
        client/cartcontrollerwidget.cpp
        client/cartcontrollerwidget.h
                client/rospublisher.cpp
                client/rospublisher.h
                client/cartkinematic.cpp
                client/cartkinematic.h
    )
target_link_libraries(client ${roscpp_LIBRARIES} Qt5::Widgets)
add_dependencies(client ${PROJECT_NAME}_generate_messages)

# Build cfg server
add_executable(drfServer  drcfServer.cpp)
add_dependencies(drfServer ${PROJECT_NAME}_generate_messages ${PROJECT_NAME}_gencfg)
target_link_libraries(drfServer ${Boost_LIBRARIES} ${roscpp_LIBRARIES} ${catkin_LIBRARIES})

Just need to add ${catkin_LIBRARIES}