Библиотека ссылок правильно с ROS и Cmake ⇐ C++

[Anonymous]

Я пытаюсь добавить код для модуля Ethernet ввода/вывода MOXA с ROS. Я использую какой -то пример кода, чтобы убедиться, что он работает. Я собрал код с GCC, поэтому я знаю, что код работает. I compiled it from a terminal with this line:


g++ -L/usr/lib/x86_64-linux-gnu -pthread main.cpp -Wall -O3 -omain_test -L/usr/local/lib -lmxio_x64


Я получаю main_test.out, и он работает. Я добавляю свой код в папку SRC, редактирует Cmakelist и Package.xml. Затем, когда я пытаюсь запустить Catkin_make -wall (чтобы избавиться от многих предупреждений), я получаю следующее сообщение: < /p>

Base path: /home/johau/ros_ws
Source space: /home/johau/ros_ws/src
Build space: /home/johau/ros_ws/build
Devel space: /home/johau/ros_ws/devel
Install space: /home/johau/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/johau/ros_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/johau/ros_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/johau/ros_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/johau/ros_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/johau/ros_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - master
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'master'
-- ==> add_subdirectory(master)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- thread
-- Configuring done
-- Generating done
-- Build files have been written to: /home/johau/ros_ws/build
####
#### Running command: "make -Wall -j8 -l8" in "/home/johau/ros_ws/build"
####
Linking CXX executable /home/johau/ros_ws/devel/lib/master/main
CMakeFiles/main.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0xdd0): warning: the `gets' function is dangerous and should not be used.
/usr/local/lib/libmxio_x64.so: undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/johau/ros_ws/devel/lib/master/main] Error 1
make[1]: *** [master/CMakeFiles/main.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
< /code>

Я также получил «неопределенную ссылку на 'phread_create'», когда я скомпилировал с GCC, и решил эту проблему, вызывая -Птчику перед Main.cpp.
Итак, моя проблема сейчас в том, как я могу сделать то же самое с Cmake? Я довольно зеленый, когда дело доходит до ROS и Cmake, поэтому я не уверен, что добавить, где или если я написал что -то не так где -то в моем cmakelists.txt или package.xml. < /p>

Я использую Ubuntu 14.04 LTS и Ros Indigo.
Если вам нужна дополнительная информация, сообщите о моем set (cmake_cxx_flags "-lpthread") < /p>
< /blockquote>

после проекта (мастер) в cmakelists.txt.
i также попробовал: < /p>


(cmake_cs_cs "-L/usr/lib/x86_64-linux-gnu -pthread")


и

set(CMAKE_CXX_FLAGS "-L/usr/lib/x86_64-linux-gnu")
set(CMAKE_CXX_FLAGS "-pthread")
< /code>

Но это дало то же сообщение об ошибке. < /p>

my cmakelists.txt: < /p>

cmake_minimum_required(VERSION 2.8.3)
project(master)

unset(MOXA_LIBRARY CACHE)

find_library(
MOXA_LIBRARY
NAMES mxio_x64
PATHS /usr/local/lib
PATH_SUFFIXES lib
NO_DEFAULT_PATH
)

if(MOXA_LIBRARY STREQUAL "MOXA_LIBRARY-NOTFOUND")
message(WARNING "Moxa Library not present !")
else()
add_definitions(-DUSE_MOXA)
endif()

find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS thread)

###################################
## catkin specific configuration ##
###################################

catkin_package(
CATKIN_DEPENDS roscpp std_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
/usr/lib/x86_64-linux-gnu/
)

## Declare a cpp executable
add_executable(main
src/main.cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(main
${MOXA_LIBRARY}
${catkin_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
)
< /code>

my package.xml: < /p>



master
0.0.0
The master package

johau

BSD

catkin
roscpp
std_msgs
roscpp
std_msgs










< /code>

[edit 2]
после запроса от @lu-niu. Насколько я вижу, то и -Птерд указан, в то время как я думаю, что это должно быть -lpthread, когда каталог не указан в первую очередь (поправьте меня, если я ошибаюсь). Итак, что я должен отредактировать, изменить порядок команды? < /P>

Base path: /home/johau/ros_ws
Source space: /home/johau/ros_ws/src
Build space: /home/johau/ros_ws/build
Devel space: /home/johau/ros_ws/devel
Install space: /home/johau/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/johau/ros_ws/build"
####
####
#### Running command: "make VERBOSE=1 -j8 -l8" in "/home/johau/ros_ws/build"
####
/usr/bin/cmake -H/home/johau/ros_ws/src -B/home/johau/ros_ws/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/johau/ros_ws/build/CMakeFiles /home/johau/ros_ws/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/depend
make[2]: Entering directory `/home/johau/ros_ws/build'
cd /home/johau/ros_ws/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/johau/ros_ws/src /home/johau/ros_ws/src/master /home/johau/ros_ws/build /home/johau/ros_ws/build/master /home/johau/ros_ws/build/master/CMakeFiles/main.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/build
make[2]: Entering directory `/home/johau/ros_ws/build'
Linking CXX executable /home/johau/ros_ws/devel/lib/master/main
cd /home/johau/ros_ws/build/master && /usr/bin/cmake -E cmake_link_script CMakeFiles/main.dir/link.txt --verbose=1
/usr/bin/c++ -lpthread CMakeFiles/main.dir/src/main.cpp.o -o /home/johau/ros_ws/devel/lib/master/main -L/usr/local/lib -rdynamic -lmxio_x64 /opt/ros/indigo/lib/libroscpp.so -lboost_signals -lboost_filesystem /opt/ros/indigo/lib/librosconsole.so /opt/ros/indigo/lib/librosconsole_log4cxx.so /opt/ros/indigo/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/indigo/lib/libxmlrpcpp.so /opt/ros/indigo/lib/libroscpp_serialization.so /opt/ros/indigo/lib/librostime.so -lboost_date_time /opt/ros/indigo/lib/libcpp_common.so -lboost_system -lboost_thread -lpthread -lconsole_bridge -Wl,-rpath,/usr/local/lib:/opt/ros/indigo/lib
CMakeFiles/main.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0xdd0): warning: the `gets' function is dangerous and should not be used.
/usr/local/lib/libmxio_x64.so: undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/johau/ros_ws/devel/lib/master/main] Error 1
make[2]: Leaving directory `/home/johau/ros_ws/build'
make[1]: *** [master/CMakeFiles/main.dir/all] Error 2
make[1]: Leaving directory `/home/johau/ros_ws/build'
make: *** [all] Error 2
Invoking "make" failed
< /code>

[edit 3]
Оба предложения @fenix688 дают этот выход (с словом = 1): < /p>

Base path: /home/johau/ros_ws
Source space: /home/johau/ros_ws/src
Build space: /home/johau/ros_ws/build
Devel space: /home/johau/ros_ws/devel
Install space: /home/johau/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/johau/ros_ws/build"
####
#### Running command: "make VERBOSE=1 -j8 -l8" in "/home/johau/ros_ws/build"
####
/usr/bin/cmake -H/home/johau/ros_ws/src -B/home/johau/ros_ws/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/johau/ros_ws/build/CMakeFiles /home/johau/ros_ws/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/depend
make[2]: Entering directory `/home/johau/ros_ws/build'
cd /home/johau/ros_ws/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/johau/ros_ws/src /home/johau/ros_ws/src/master /home/johau/ros_ws/build /home/johau/ros_ws/build/master /home/johau/ros_ws/build/master/CMakeFiles/main.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/build
make[2]: Entering directory `/home/johau/ros_ws/build'
Linking CXX executable /home/johau/ros_ws/devel/lib/master/main
cd /home/johau/ros_ws/build/master && /usr/bin/cmake -E cmake_link_script CMakeFiles/main.dir/link.txt --verbose=1
/usr/bin/c++ CMakeFiles/main.dir/src/main.cpp.o -o /home/johau/ros_ws/devel/lib/master/main -L/usr/local/lib -rdynamic -lpthread -lboost_thread -lpthread -lmxio_x64 /opt/ros/indigo/lib/libroscpp.so -lboost_signals -lboost_filesystem /opt/ros/indigo/lib/librosconsole.so /opt/ros/indigo/lib/librosconsole_log4cxx.so /opt/ros/indigo/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/indigo/lib/libxmlrpcpp.so /opt/ros/indigo/lib/libroscpp_serialization.so /opt/ros/indigo/lib/librostime.so -lboost_date_time /opt/ros/indigo/lib/libcpp_common.so -lboost_system -lboost_thread -lpthread -lconsole_bridge -lmxio_x64 /opt/ros/indigo/lib/libroscpp.so -lboost_signals -lboost_filesystem /opt/ros/indigo/lib/librosconsole.so /opt/ros/indigo/lib/librosconsole_log4cxx.so /opt/ros/indigo/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/indigo/lib/libxmlrpcpp.so /opt/ros/indigo/lib/libroscpp_serialization.so /opt/ros/indigo/lib/librostime.so -lboost_date_time /opt/ros/indigo/lib/libcpp_common.so -lboost_system -lconsole_bridge -Wl,-rpath,/usr/local/lib:/opt/ros/indigo/lib
CMakeFiles/main.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0xdd0): warning: the `gets' function is dangerous and should not be used.
/usr/local/lib/libmxio_x64.so: undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/johau/ros_ws/devel/lib/master/main] Error 1
make[2]: Leaving directory `/home/johau/ros_ws/build'
make[1]: *** [master/CMakeFiles/main.dir/all] Error 2
make[1]: Leaving directory `/home/johau/ros_ws/build'
make: *** [all] Error 2
Invoking "make" failed
< /code>

В то время как я удалю все с помощью pthread от cmakelists.txtBase path: /home/johau/ros_ws
Source space: /home/johau/ros_ws/src
Build space: /home/johau/ros_ws/build
Devel space: /home/johau/ros_ws/devel
Install space: /home/johau/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/johau/ros_ws/build"
####
####
#### Running command: "make VERBOSE=1 -j8 -l8" in "/home/johau/ros_ws/build"
####
/usr/bin/cmake -H/home/johau/ros_ws/src -B/home/johau/ros_ws/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/johau/ros_ws/build/CMakeFiles /home/johau/ros_ws/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/depend
make[2]: Entering directory `/home/johau/ros_ws/build'
cd /home/johau/ros_ws/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/johau/ros_ws/src /home/johau/ros_ws/src/master /home/johau/ros_ws/build /home/johau/ros_ws/build/master /home/johau/ros_ws/build/master/CMakeFiles/main.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/build
make[2]: Entering directory `/home/johau/ros_ws/build'
Linking CXX executable /home/johau/ros_ws/devel/lib/master/main
cd /home/johau/ros_ws/build/master && /usr/bin/cmake -E cmake_link_script CMakeFiles/main.dir/link.txt --verbose=1
/usr/bin/c++ CMakeFiles/main.dir/src/main.cpp.o -o /home/johau/ros_ws/devel/lib/master/main -L/usr/local/lib -rdynamic -lmxio_x64 /opt/ros/indigo/lib/libroscpp.so -lboost_signals -lboost_filesystem /opt/ros/indigo/lib/librosconsole.so /opt/ros/indigo/lib/librosconsole_log4cxx.so /opt/ros/indigo/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/indigo/lib/libxmlrpcpp.so /opt/ros/indigo/lib/libroscpp_serialization.so /opt/ros/indigo/lib/librostime.so -lboost_date_time /opt/ros/indigo/lib/libcpp_common.so -lboost_system -lboost_thread -lpthread -lconsole_bridge -Wl,-rpath,/usr/local/lib:/opt/ros/indigo/lib
CMakeFiles/main.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0xdd0): warning: the `gets' function is dangerous and should not be used.
/usr/local/lib/libmxio_x64.so: undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/johau/ros_ws/devel/lib/master/main] Error 1
make[2]: Leaving directory `/home/johau/ros_ws/build'
make[1]: *** [master/CMakeFiles/main.dir/all] Error 2
make[1]: Leaving directory `/home/johau/ros_ws/build'
make: *** [all] Error 2
Invoking "make" failed
< /code>

[edit 4]
Пробовал с cmakelists.txt @fenix688, и он дал такую ​​же ошибку с этим выводом: < /p>

Base path: /home/johau/ros_ws
Source space: /home/johau/ros_ws/src
Build space: /home/johau/ros_ws/build
Devel space: /home/johau/ros_ws/devel
Install space: /home/johau/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/johau/ros_ws/build"
####
####
#### Running command: "make VERBOSE=1 -j8 -l8" in "/home/johau/ros_ws/build"
####
/usr/bin/cmake -H/home/johau/ros_ws/src -B/home/johau/ros_ws/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/johau/ros_ws/build/CMakeFiles /home/johau/ros_ws/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/depend
make[2]: Entering directory `/home/johau/ros_ws/build'
cd /home/johau/ros_ws/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/johau/ros_ws/src /home/johau/ros_ws/src/master /home/johau/ros_ws/build /home/johau/ros_ws/build/master /home/johau/ros_ws/build/master/CMakeFiles/main.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/johau/ros_ws/build'
make -f master/CMakeFiles/main.dir/build.make master/CMakeFiles/main.dir/build
make[2]: Entering directory `/home/johau/ros_ws/build'
Linking CXX executable /home/johau/ros_ws/devel/lib/master/main
cd /home/johau/ros_ws/build/master && /usr/bin/cmake -E cmake_link_script CMakeFiles/main.dir/link.txt --verbose=1
/usr/bin/c++ CMakeFiles/main.dir/src/main.cpp.o -o /home/johau/ros_ws/devel/lib/master/main -L/usr/local/lib -rdynamic -lpthread -lmxio_x64 /opt/ros/indigo/lib/libroscpp.so -lboost_signals -lboost_filesystem /opt/ros/indigo/lib/librosconsole.so /opt/ros/indigo/lib/librosconsole_log4cxx.so /opt/ros/indigo/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/indigo/lib/libxmlrpcpp.so /opt/ros/indigo/lib/libroscpp_serialization.so /opt/ros/indigo/lib/librostime.so -lboost_date_time /opt/ros/indigo/lib/libcpp_common.so -lboost_system -lboost_thread -lpthread -lconsole_bridge -lboost_thread -lpthread -lconsole_bridge -Wl,-rpath,/usr/local/lib:/opt/ros/indigo/lib
CMakeFiles/main.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0xdd0): warning: the `gets' function is dangerous and should not be used.
/usr/local/lib/libmxio_x64.so: undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/johau/ros_ws/devel/lib/master/main] Error 1
make[2]: Leaving directory `/home/johau/ros_ws/build'
make[1]: *** [master/CMakeFiles/main.dir/all] Error 2
make[1]: Leaving directory `/home/johau/ros_ws/build'
make: *** [all] Error 2
Invoking "make" failed


Подробнее здесь: https://stackoverflow.com/questions/278 ... -and-cmake