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在我的项目中，我想将xbee 外部库与ROS一起使用。最初，当我制作 exe 文件时，我使用 makefile。但是由于 ROS 使用 catkin，所以我必须用Cmakelists.txt 但是我遇到同样的错误undefined reference ..，即使我按照我能做的每一个方向去做。

我的项目的目录结构是这样的。

.
├── xbee_ansic_library
    ├── include - 3 subdirectories have h file
        ├── wpan
        ├── xbee
        └── zigbee
    ├── src - subdirectories have c file
        ├── wpan
        ├── xbee
        └── zigbee            
└── my_project
        ├── src
            └── main.cpp
        └── CMakeLists.txt

并且由于原始的makefile看起来像这样，我写了my_project/CmakeLists.txt，如下所示。

project(my_project)

## Declare a catkin package
catkin_package()

# %EndTag(FULLTEXT)%

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(~/catkin_ws/src/xbee_ansic_library/include)
include_directories(~/catkin_ws/src/my_project/include)

LINK_DIRECTORIES(~/catkin_ws/src/xbee_ansic_library/src)
LINK_DIRECTORIES(~/catkin_ws/src/my_project/src)

add_library(base_OBJECTS 
${xbee_ansic_library_SRC_POSIX}/xbee_platform_posix.c 
${xbee_ansic_library_SRC_POSIX}/xbee_serial_posix.c
${xbee_ansic_library_SRC_UTIL}/hexstrtobyte.c  
${xbee_ansic_library_SRC_UTIL}/memcheck.c 
${xbee_ansic_library_SRC_UTIL}/swapbytes.c 
${xbee_ansic_library_SRC_UTIL}/swapcpy.c 
${xbee_ansic_library_SRC_UTIL}/hexdump.c src/parse_serial_args.c)

add_library(xbee_OBJECTS 
${base_OBJECTS} 
${xbee_ansic_library_SRC_WPAN}/wpan_types.c
${xbee_ansic_library_SRC_XBEE}/xbee_device.c 
${xbee_ansic_library_SRC_XBEE}/xbee_atcmd.c)

....


add_executable(main src/main.cpp)
target_link_libraries(main ${catkin_LIBRARIES} main_OBJECTS)
add_dependencies(main my_project_generate_messages_cpp)

但是当我用命令时catkin_make，我得到了错误

CMakeFiles/main.dir/src/main.cpp.o：在函数main': main.cpp:(.text+0x177): undefined reference toxbee_dev_dump_settings'collect2：错误：ld返回1退出状态

但xbee_dev_dump_settings在xbee_ansic_library/include/xbee/device.h, xbee_ansic_library/src/xbee/xbee_device.c. 由于错误undefined reference ..不是，not declared ..我认为我在标题方面做得很好。

接下来应该做什么？

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1 回答 1

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该错误处于链接阶段，因此它可能与您的target_link_libraries线路有关。我相信它还应该指定您创建的 xbee 和基础库，因此将其更改为此应该可以工作：

target_link_libraries(main ${catkin_LIBRARIES} base_OBJECTS xbee_OBJECTS)
于 2016-08-15T10:05:25.513 回答