使用 ROS 和 cmake 正确链接库

【问题标题】：Link library correct with ROS and cmake使用 ROS 和 cmake 正确链接库
【发布时间】：2015-03-06 16:48:30
【问题描述】：

我正在尝试为带有 ROS 的 MOXA I/O 以太网模块添加一些代码。我正在使用一些示例代码，以确保它有效。我已经用 gcc 编译了代码，所以我知道代码可以工作。我用这一行从终端编译它：

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

我得到了 main_test.out 并且它可以工作。

所以我按照 ROS 教程创建了一个 catkin 工作区和一个新包。我将代码添加到 src 文件夹，编辑 CMakeList 和 package.xml。然后，当我尝试运行 catkin_make -Wall （以消除很多警告）时，我收到以下消息：

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

当我使用 gcc 编译时，我还得到了“对 'phread_create' 的未定义引用”，并通过在 main.cpp 之前调用 -pthread 解决了这个问题。 所以我现在的问题是，我怎样才能对 CMake 做同样的事情？ 我进行了很多搜索并尝试了不同的解决方案，但到目前为止没有任何效果。当谈到 ROS 和 CMake 时，我是非常绿色的，所以我不确定在哪里添加什么，或者我是否在我的 CMakeLists.txt 或 package.xml 的某个地方写错了。

我使用的是 Ubuntu 14.04 LTS 和 ROS Indigo。 如果您需要更多信息，请告诉我。

提前，谢谢。

[编辑 1] 我现在尝试添加

设置(CMAKE_CXX_FLAGS "-lpthread")

在 CMakeLists.txt 中的项目（主）之后。 我也试过：

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

和

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

但它给出了同样的错误信息。

我的 CMakeLists.txt：

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}
 )

我的 package.xml：

<?xml version="1.0"?>
<package>
  <name>master</name>
  <version>0.0.0</version>
  <description>The master package</description>

  <maintainer email="johau@todo.todo">johau</maintainer>

  <license>BSD</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>std_msgs</run_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

[编辑 2] 根据@Lu-Niu 的请求，我是否运行了catkin_make VERBOSE=1（catkin_make 应该与 make 命令相同，据我所知，catkin 部分只是因为它在 ROS 中）并且输出在下面的框中。据我所见，指定了-pthread，而我认为它应该是-lpthread，当没有首先指定目录时（纠正我，如果我错了）。那么我应该编辑什么来改变命令的顺序呢？

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

[编辑 3] @fenix688 的两个建议都给出了这个输出（VERBOSE=1）：

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

如果我使用 pthread 从 CMakeLists.txt 中删除所有内容，我是否会得到这个 VERBOSE=1 输出，其中仍然设置了 -lpthread。

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 -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

[编辑 4] 尝试使用 @fenix688 编写的 CMakeLists.txt，它给出了与此输出相同的错误：

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

【问题讨论】：

  • 一种解决方法应该是在project(master)之后添加这一行：set(CMAKE_CXX_FLAGS "-lpthread")。
  • 我刚试过，但我得到了同样的错误。我也尝试使用 pthread 库的直接路径，但它也不起作用。

标签： c++ linux cmake pthreads ros


【解决方案1】：

嗯，我们需要调查您的问题。当你在cmake之后运行make时，你能不能运行make VERBOSE=1，以便我们可以看到它执行的实际命令以及pthread标志是否指定正确。你也可以参考这个帖子：Using CMake with GNU Make: How can I see the exact commands?

【讨论】：

  • 我刚刚运行了命令并将输出添加到我的问题的末尾，因为这个注释对于输出来说不够大。
  • 您的单个​​命令中有多个 pthread 标志。你能参考这个答案来纠正那个吗？stackoverflow.com/a/1665110/1646996
  • 是的，我可以看到我确实有多个 pthread 标志。我从 CMakeLists.txt 中用 pthread 删除了所有内容。我仍然得到未定义的参考错误。使用 VERBOSE=1，我得到一长串标志，但还剩下一个 pthread 标志。那么我在哪里有机会呢。我已经搜索了如何更改 CMake 标志及其顺序，但我一无所获。我想，我需要在 mxio_x64 标志之前设置 pthread 标志，因为 mxio 库正在使用 pthread。
【解决方案2】：

你可以试试这个完整的 CMakeLists.txt 代码：

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 COMPONENTS thread REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})

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

catkin_package(
   CATKIN_DEPENDS roscpp std_msgs
)

include_directories(${catkin_INCLUDE_DIRS})

find_package(Threads REQUIRED)

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

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

我希望它有效！

【讨论】：

  • 我可以将 pthread 标志设置在正确的位置。但它也是稍后与一些 boost 库标志同时设置的，我不知道如何更改它，因为这些标志没有在 CMakeLists.txt 中设置。知道在哪里改变吗？
  • 我刚刚尝试过，但它只是再次添加了相同的标志，但在正确的位置（至少我希望它是正确的位置）。但是感谢您花时间提供帮助:)
  • 我添加了完整的示例并进行了一些修改。请告诉我它是否有效:)
  • 抱歉，回答迟了，但我刚刚尝试了您的示例并再次遇到相同的错误。但是再次感谢您的尝试:) 我会尝试查看一些配置文件，并希望在那里找到有用的东西。
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