Gazebo Ros Plugin Fehler machen: Undefinierte Symbole für die Architektur x86_64

Question

Ich bin neu in ROS und Gazebo Programmierung. Ich versuche ein Steuerungs-Plugin für den Laser zu erstellen, den ich an meinem Robotermodell montiert habe.

Ich bin mit ROS indigo und Pavillon 7.0 auf MAC OS X 10.11.5

Mein Problem kommt, wenn ich zu kompilieren versuchen, unter Verwendung von Standard 'Cmake' und 'make', die .cc Datei meiner Plugin .

ein offizielles Tutorial verfolgt (http://gazebosim.org/tutorials/?tut=plugins_model) habe ich schrieb die CMakeLists.txt wie:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 

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}) 
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 



# Build our plugin 
add_library(velodyne_plugin SHARED velodyne_plugin.cc) 
target_link_libraries(velodyne_plugin ${GAZEBO_libraries} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${roscpp_LIBRARIES}) 

Ich denke, dass das Problem aus den Bibliotheken Abhängigkeiten ableiten könnte.

Der Befehl ‚cmake‘ scheint zwar gut zu arbeiten ‚make‘ zurückzukehren folgende Ausgabe:

[ 50%] Linking CXX shared library libvelodyne_plugin.dylib 
Undefined symbols for architecture x86_64: 
    "sdf::Console::ColorMsg(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, unsigned int, int)", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
     bool sdf::Param::Get<double>(double&) const in velodyne_plugin.cc.o 
    "sdf::Console::Instance()", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
     bool sdf::Param::Get<double>(double&) const in velodyne_plugin.cc.o 
     sdf::Console::ConsoleStream& sdf::Console::ConsoleStream::operator<<<char [30]>(char const (&) [30]) in velodyne_plugin.cc.o 
     sdf::Console::ConsoleStream& sdf::Console::ConsoleStream::operator<<<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > >(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
     sdf::Console::ConsoleStream& sdf::Console::ConsoleStream::operator<<<char [3]>(char const (&) [3]) in velodyne_plugin.cc.o 
     sdf::Console::ConsoleStream& sdf::Console::ConsoleStream::operator<<<char [29]>(char const (&) [29]) in velodyne_plugin.cc.o 
     sdf::Console::ConsoleStream& sdf::Console::ConsoleStream::operator<<<char [15]>(char const (&) [15]) in velodyne_plugin.cc.o 
     ... 
    "sdf::Element::GetElement(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
    "sdf::Element::GetAttribute(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
    "sdf::Element::HasElementDescription(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
    "gazebo::event::Connection::Connection(gazebo::event::Event*, int)", referenced from: 
     gazebo::event::EventT<void (gazebo::common::UpdateInfo const&)>::Connect(boost::function<void (gazebo::common::UpdateInfo const&)> const&) in velodyne_plugin.cc.o 
    "gazebo::event::Connection::~Connection()", referenced from: 
     void boost::checked_delete<gazebo::event::Connection>(gazebo::event::Connection*) in velodyne_plugin.cc.o 
    "gazebo::event::Events::worldUpdateBegin", referenced from: 
     boost::shared_ptr<gazebo::event::Connection> gazebo::event::Events::ConnectWorldUpdateBegin<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::VelodynePlugin>, boost::_bi::list1<boost::_bi::value<gazebo::VelodynePlugin*> > > >(boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::VelodynePlugin>, boost::_bi::list1<boost::_bi::value<gazebo::VelodynePlugin*> > >) in velodyne_plugin.cc.o 
    "gazebo::common::Time::Time(double)", referenced from: 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
    "gazebo::common::Time::Time()", referenced from: 
     gazebo::VelodynePlugin::VelodynePlugin() in velodyne_plugin.cc.o 
    "gazebo::common::Time::~Time()", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
     gazebo::VelodynePlugin::~VelodynePlugin() in velodyne_plugin.cc.o 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
    "gazebo::common::Time::operator=(gazebo::common::Time const&)", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
    "gazebo::common::Time::operator+=(gazebo::common::Time const&)", referenced from: 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
    "ignition::math::IndexException::IndexException()", referenced from: 
     ignition::math::Vector3<double>::operator[](unsigned long) const in velodyne_plugin.cc.o 
     ignition::math::Vector2<int>::operator[](unsigned long) const in velodyne_plugin.cc.o 
     ignition::math::Vector2<double>::operator[](unsigned long) const in velodyne_plugin.cc.o 
    "sdf::Element::HasElement(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) const", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
    "sdf::Element::GetElementImpl(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) const", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
    "sdf::Element::GetElementDescription(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) const", referenced from: 
     double sdf::Element::Get<double>(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in velodyne_plugin.cc.o 
    "gazebo::common::Time::Double() const", referenced from: 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
    "gazebo::common::Time::operator-(gazebo::common::Time const&) const", referenced from: 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
    "gazebo::physics::Base::GetWorld() const", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
    "gazebo::physics::Model::GetJointCount() const", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
    "gazebo::physics::Model::GetJoints() const", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
    "gazebo::physics::World::GetSimTime() const", referenced from: 
     gazebo::VelodynePlugin::Load(boost::shared_ptr<gazebo::physics::Model>, std::__1::shared_ptr<sdf::Element>) in velodyne_plugin.cc.o 
     gazebo::VelodynePlugin::UpdateChild() in velodyne_plugin.cc.o 
ld: symbol(s) not found for architecture x86_64 
clang: error: linker command failed with exit code 1 (use -v to see invocation) 
make[2]: *** [libvelodyne_plugin.dylib] Error 1 
make[1]: *** [CMakeFiles/velodyne_plugin.dir/all] Error 2 
make: *** [all] Error 2 

Kann mir jemand helfen?

Danke,

Pietro

Answer 1

Versuchen Sie, die target_link_libraries ersetzen: GAZEBO_libraries durch GAZEBO_LIBRARIES.