Hello,
I have already checked several questions regarding this issue, but I cannot find the solution to my problem. When I enter the command `catkin_make`, it starts building my workspace but gets stuck and outputs the error:
`[ 95%] Building CXX object gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/camera_synchronizer.dir/src/camera_synchronizer.cpp.o`
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o: In function `UR10Controller::moveForwardOrBackward(bool)':
UR10Controller.cpp:(.text+0xbd5): undefined reference to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const'
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o: In function `UR10Controller::moveToPoint(workspaceCoordinates, bool)':
UR10Controller.cpp:(.text+0x11ec): undefined reference to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const'
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o: In function `UR10Controller::moveToIdlePosNonRestricted()':
UR10Controller.cpp:(.text+0x1750): undefined reference to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const'
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o: In function `UR10Controller::moveRobotToCleanBrush()':
UR10Controller.cpp:(.text+0x1e72): undefined reference to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const'
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o: In function `UR10Controller::moveRobotToColour(int)':
UR10Controller.cpp:(.text+0x2560): undefined reference to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const'
CMakeFiles/UR10EyePainting.dir/src/UR10Controller.cpp.o:UR10Controller.cpp:(.text+0x2a47): more undefined references to `trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory::RobotTrajectory&, double) const' follow
collect2: error: ld returned 1 exit status
make[2]: *** [/home/sd2314/catkin_ws/devel/lib/ur10_eye_painting/UR10EyePainting] Error 1
make[1]: *** [universal_robot/ur10_eye_painting/CMakeFiles/UR10EyePainting.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX executable /home/sd2314/catkin_ws/devel/lib/gazebo_plugins/camera_synchronizer
[ 95%] Built target camera_synchronizer
Linking CXX shared library /home/sd2314/catkin_ws/devel/lib/libgazebo_ros_camera_utils.so
[ 95%] Built target gazebo_ros_camera_utils
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
I already confirmed that in the CMakeLists.txt I have the libraries linked, as you can see below:
cmake_minimum_required(VERSION 2.8.3)
project(ur10_eye_control)
find_package(catkin REQUIRED COMPONENTS
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
pluginlib
cmake_modules
)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(Eigen REQUIRED)
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
catkin_package(
INCLUDE_DIRS include
# LIBRARIES ur10_eye_control
CATKIN_DEPENDS
moveit_core
moveit_ros_planning_interface
interactive_markers
# DEPENDS system_lib
)
include_directories(include
src)
add_executable(UR10EyeControl src/UR10EyeControl.cpp
src/DataFlowController.cpp
src/UR10Controller.cpp
src/EyeDataServer.cpp
src/Subject.cpp
src/DataAnalysis.cpp
include/Observer.h
include/DataAnalysis.h
include/EyeDataServer.h
include/Subject.h
include/ErrorCodes.h
include/DataTypes.h
include/UR10Controller.h
include/UR10Control.h
include/DataFlowController.h)
target_link_libraries(UR10EyeControl ${catkin_LIBRARIES} ${Boost_LIBRARIES})
install(TARGETS UR10EyeControl DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
Maybe the library linking is not well done? I have been banging my head on the walls with this for quite some time now.
↧