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我正在尝试使用 ROS 构建一个项目，但我不断收到“未定义对 <> 的引用”错误，例如：



    CMakeFiles/robot_controller_node.dir/src/Node_Robot_Controller.cpp.o: dans la fonction « main »:
    Node_Robot_Controller.cpp:(.text+0x1f1): référence indéfinie vers « trajectoryclass::trajectoryclass(ros::NodeHandle) »
    Node_Robot_Controller.cpp:(.text+0x796): référence indéfinie vers « List_Container::getElement(int) »
    Node_Robot_Controller.cpp:(.text+0x7ab): référence indéfinie vers « Task_Interface::getTaskDescription() »
    Node_Robot_Controller.cpp:(.text+0x7d1): référence indéfinie vers « List_Container::getElement(int) »
    Node_Robot_Controller.cpp:(.text+0x7d9): référence indéfinie vers « Task_Interface::getTaskId() »
    Node_Robot_Controller.cpp:(.text+0x83a): référence indéfinie vers « List_Container::getElement(int) »
    Node_Robot_Controller.cpp:(.text+0x977): référence indéfinie vers « List_Container::next() »
    Node_Robot_Controller.cpp:(.text+0xa60): référence indéfinie vers « List_Container::getElement(int) »
    Node_Robot_Controller.cpp:(.text+0xa68): référence indéfinie vers « Task_Interface::getTaskId() »
    Node_Robot_Controller.cpp:(.text+0xab5): référence indéfinie vers « List_Container::getElement(int) »
    Node_Robot_Controller.cpp:(.text+0xadd): référence indéfinie vers « List_Container::isEmpty() »
    /home/tcozic/Documents/git_ur10/catkin_ws/devel/lib/librobot_controller_library.so: référence indéfinie vers « error_norm(std::vector >, std::vector >) »
    /home/tcozic/Documents/git_ur10/catkin_ws/devel/lib/librobot_controller_library.so: référence indéfinie vers « Position_Joint::getVector() »
    collect2: error: ld returned 1 exit status
    make[2]: *** [/home/tcozic/Documents/git_ur10/catkin_ws/devel/lib/ur10/robot_controller_node] Erreur 1
    make[1]: *** [ur10/CMakeFiles/robot_controller_node.dir/all] Erreur 2
    make: *** [all] Erreur 2
    Invoking "make install -j4 -l4" failed

这是我的 CmakeLists.txt 用于编译这个包：

<pre><code>
cmake_minimum_required(VERSION 2.8.3)
project(ur10)

set(MSG_DEPS
  std_msgs
  sensor_msgs
  geometry_msgs
  trajectory_msgs
  moveit_msgs
)


find_package(catkin REQUIRED COMPONENTS
  message_generation
  moveit_core
  moveit_ros_planning
  moveit_ros_planning_interface
  dynamic_reconfigure
  moveit_ros_move_group
  pcl_conversions ##adding
  pcl_msgs ##adding
  roscpp
  rospy
  roslib
  #tf
  #urdf
  genmsg
 ${MSG_DEPS}
)




find_package(VISP REQUIRED)
find_library(VISP_LIBRARIES NAMES visp HINTS ${VISP_LIBRARY_DIRS} )

find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)

find_package( ur_package REQUIRED)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   Task_move.msg
   Task_wait.msg
   Piece.msg
   Task.msg
   Task_tool.msg
 )
# Generate services in the 'srv' folder
 add_service_files(
   FILES
   Validation.srv
   NewPiece.srv
 )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs  # Or other packages containing msgs
 )
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS message_runtime roscpp rospy roslib moveit_core moveit_ros_planning_interface   #moveit_plan_execution
 moveit_trajectory_execution_manager moveit_ros_planning  moveit_planning_scene_monitor ${MSG_DEPS}
  DEPENDS VISP OpenCV
)


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


include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "-std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "-std=c++0x")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif()


## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(${ur_package_INCLUDE_DIRS})

## Declare a C++ library
 add_library(robot_controller_library
     src/List_Container/List_Container.cpp

     src/Piece_Description/Piece.cpp

     src/Robot_Description/Robot.cpp
     src/Robot_Description/Tool.cpp
     src/Robot_Description/Tool_IO_Config.cpp

     src/Position/Position_Interface.cpp
     src/Position/Position_Joint.cpp
     src/Position/Position_TCP.cpp

     src/Task/Task_Move.cpp
     src/Task/Task_Tool.cpp
     src/Task/Task_Wait.cpp
 )
add_dependencies(robot_controller_library ur10_gencpp)

# Declare a C++ executable
add_executable(robot_controller_node src/Node_Robot_Controller.cpp)
 #add_dependencies(robot_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(robot_controller_node  robot_controller_library ${catkin_LIBRARIES} ${VISP_LIBRARIES})


</code></pre>

所有 *.cpp 文件都是类，在 include/ur10/ [Directory_name]/目录中有自己的头文件，除了 Node_controller_node.cpp

这是我第一个使用 ROS 的大项目，我不明白问题出在哪里......

在此先感谢您的帮助 ！

编辑：我试图在没有节点的情况下编译库：

 


## Declare a C++ library
set(SOURCE_robot_controller_library
     src/List_Container/List_Container.cpp

     src/Piece_Description/Piece.cpp

     src/Robot_Description/Robot.cpp
     src/Robot_Description/Tool.cpp
     src/Robot_Description/Tool_IO_Config.cpp

     src/Position/Position_Interface.cpp
     src/Position/Position_Joint.cpp
     src/Position/Position_TCP.cpp

     src/Task/Task_Move.cpp
     src/Task/Task_Tool.cpp
     src/Task/Task_Wait.cpp


     src/Task/Task_Interface.cpp

 )
add_library(Robot_controller_lib ${SOURCE_robot_controller_library})
add_dependencies(Robot_controller_lib ur10_gencpp)
target_link_libraries(Robot_controller_lib
        ${catkin_LIBRARIES}
        ${VISP_LIBRARIES})

我没有任何错误，但是当我尝试添加节点的编译时，我不断收到参考错误：


add_executable(robot_controller_node src/Node_Robot_Controller.cpp)
add_dependencies(robot_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(robot_controller_node 
    Robot_controller_lib
    ${catkin_LIBRARIES}
        ${VISP_LIBRARIES})

PS：我不能在这里发布代码，这是一个专业项目。

在 catkin 中使用继承或虚函数会不会有问题？List_Container 和 Task_Interface 类拥有虚函数并继承其他类。我已经确保所有功能都已实现。

4

0 回答 0