对符号“_ZN3ros10NodeHandle9subscribeERNS_16SubscribeOptionsE”的未定义引用

Question

我只是想在 ROS 中编译一个程序。我已经链接了所有必要的库，但我找不到这个。我得到的只是代码块中的以下错误（也在 eclipse 中）。

有人知道如何摆脱这个错误吗？或者它需要哪个库？

/usr/bin/ld:CMakeFiles/DistanceKinectDemo.dir/src/DistanceKinectDemo.cpp.o: undefined reference to symbol

'_ZN3ros10NodeHandle9subscribeERNS_16SubscribeOptionsE'

/opt/ros/kinetic/lib/libroscpp.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
gpuvoxelgetpointcloud/CMakeFiles/DistanceKinectDemo.dir/build.make:370: recipe for target 
'/home/pcl_gpu/devel/lib/gpuvoxelgetpointcloud/DistanceKinectDemo' failed
make[2]: *** [/home/shupeng/pcl_gpu/devel/lib/gpuvoxelgetpointcloud/DistanceKinectDemo] Error 1
CMakeFiles/Makefile2:1130: recipe for target 'gpuvoxelgetpointcloud/CMakeFiles/DistanceKinectDemo.dir/all' failed

Answer 1

您的链接器无法在库列表中找到该符号。调用 find_package(catkin REQUIRED COMPONENTS ... 时，必须列出组件 roscpp。此外，您需要将 ${catkin_LIBRARIES} 添加到 target_link_libraries 调用中。最后，用于链接的库应按依赖项的降序排列，这意味着如果您有其他库依赖它，则应将 ${catkin_LIBRARIES} 放在 target_link_libraries 调用的末尾。最后，您的 CMakeLists.txt 文件应如下所示：

...
find_package(catkin REQUIRED COMPONENTS roscpp <more packages>)
...
add_executable(DistanceKinectDemo <your cpp files>)
...
target_link_libraries(DistanceKinectDemo
<all your libraries and other dependencies>
${catkin_LIBRARIES}
)

对符号“_ZN3ros10NodeHandle9subscribeERNS_16SubscribeOptionsE”的未定义引用

undefined reference to symbol '_ZN3ros10NodeHandle9subscribeERNS_16SubscribeOptionsE'

c++

cmake

ros