如何搭建一个使用sqlite3的ros节点？

Question

我正在尝试在 ROS 节点中使用 sqlite3。我认为 ROS 依赖于 sqlite3，所以我的系统上已经有了这个库。 header 文件位于 /usr/lib/。但是，当我使用 catkin 构建测试时，我收到针对 sqlite3.h header 中函数的链接器错误。我需要在 CMake 中做什么才能针对 sqlite3 进行构建？

我包含了相关文件，但我认为您可能真正需要查看的唯一文件是 CMakeLists.txt。

我正在使用 ros melodic。

链接器错误：

/home/linuxbrew/.linuxbrew/Cellar/cmake/3.15.1/bin/cmake -E cmake_link_script CMakeFiles/sqlite_gtest.dir/link.txt --verbose=1
/usr/bin/c++    -rdynamic CMakeFiles/sqlite_gtest.dir/test/sqlite_test.cpp.o  -o /home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/tros_logging/sqlite_gtest  -L/home/alexmussell/catkin_ws/build/tros_logging/gtest -Wl,-rpath,/home/alexmussell/catkin_ws/build/tros_logging/gtest:/home/alexmussell/catkin_ws/build/tros_logging/gtest/googlemock/gtest:/opt/ros/melodic/lib:/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib gtest/googlemock/gtest/libgtest.so /opt/ros/melodic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/melodic/lib/librosconsole.so /opt/ros/melodic/lib/librosconsole_log4cxx.so /opt/ros/melodic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/melodic/lib/libroscpp_serialization.so /opt/ros/melodic/lib/libxmlrpcpp.so /opt/ros/melodic/lib/librostime.so /opt/ros/melodic/lib/libcpp_common.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread /home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so -lpthread 
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_step'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_open'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_prepare_v2'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_finalize'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_bind_text'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_bind_int64'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_close'
/home/alexmussell/catkin_ws/devel/.private/tros_logging/lib/libtros_logging.so: undefined reference to `sqlite3_errmsg'
collect2: error: ld returned 1 exit status

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(tros_logging)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rostest
)

catkin_package(
  INCLUDE_DIRS 
    include
  LIBRARIES 
    ${PROJECT_NAME}
  CATKIN_DEPENDS 
    roscpp
)


set(${PROJECT_NAME}_SRCS
  src/sqlite_logging_database.cpp
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})


#############
## Testing ##
#############

catkin_add_gtest(sqlite_gtest 
  test/sqlite_test.cpp
)

target_link_libraries(sqlite_gtest
  ${catkin_LIBRARIES}
  ${PROJECT_NAME}
)

我在哪里导入 header (sqlite_logging_database.h)

#pragma once

#include "tros_logging/logging_database.h"
#include <sqlite3.h>

namespace tros_logging
{
    class SQLiteLoggingDatabase : public LoggingDatabase
    {
        public:

            SQLiteLoggingDatabase(std::string sqlite_database_file);
            ~SQLiteLoggingDatabase();

            bool logEvent(Event event);
            bool logError(Error error);
            bool logTiming(Timing timing);
            bool logMetric(Metric metric);
            Event loadEvent(std::string uuid);
            Error loadError(std::string uuid);
            Timing loadTiming(std::string uuid);
            Metric loadMetric(std::string uuid);

        private:
            sqlite3* db_connection;
            void checkError(int error_code);
    };

    class SQLiteError : public std::runtime_error
    {
        public:
            explicit SQLiteError(std::string what) : std::runtime_error(what)
            {

            }
    };
}

实现我的代码的 CPP 文件 (sqlite_logging_database.cpp)

#include "tros_logging/sqlite_logging_database.h"
#include <ros/ros.h>

namespace tros_logging
{
    SQLiteLoggingDatabase::SQLiteLoggingDatabase(std::string sqlite_database_file)
    {
        int err = 0;
        err = sqlite3_open(sqlite_database_file.c_str(), &(this->db_connection));
        if(err)
        {
            ROS_ERROR_STREAM("Error opening sqlite database file: " << sqlite_database_file << " : " << sqlite3_errmsg(this->db_connection));            
        }
    }

    SQLiteLoggingDatabase::~SQLiteLoggingDatabase()
    {
        sqlite3_close(this->db_connection);
    }

    bool SQLiteLoggingDatabase::logEvent(Event event)
    {
        sqlite3_stmt * stmt;
        std::string sql = "INSERT INTO events (uuid,  type, parent_event_uuid, timestamp) VALUES (?, ?, ?, ?)";

        try
        {
            int err = sqlite3_prepare_v2(this->db_connection, sql.c_str(), -1, &stmt, NULL);
            this->checkError(err);
            err = sqlite3_bind_text(stmt, 1, event.uuid.c_str(), event.uuid.length(), SQLITE_TRANSIENT);
            this->checkError(err);
            err = sqlite3_bind_text(stmt, 2, event.type.c_str(), event.type.length(), SQLITE_TRANSIENT);
            this->checkError(err);
            err = sqlite3_bind_text(stmt, 3, event.parent_uuid.c_str(), event.parent_uuid.length(), SQLITE_TRANSIENT);
            this->checkError(err);
            err = sqlite3_bind_int64(stmt, 4, event.timestamp.toNSec());
            this->checkError(err);
            err = sqlite3_step(stmt);
            this->checkError(err);
            err = sqlite3_finalize(stmt);
            this->checkError(err);
        }
        catch(const SQLiteError e)
        {
            ROS_ERROR_STREAM(e.what() << '\n');
        }
    }

    bool SQLiteLoggingDatabase::logError(Error error)
    {

    }

    bool SQLiteLoggingDatabase::logTiming(Timing timing)
    {

    }

    bool SQLiteLoggingDatabase::logMetric(Metric metric)
    {

    }

    Event SQLiteLoggingDatabase::loadEvent(std::string uuid)
    {

    }

    Error SQLiteLoggingDatabase::loadError(std::string uuid)
    {

    }

    Timing SQLiteLoggingDatabase::loadTiming(std::string uuid)
    {

    }

    Metric SQLiteLoggingDatabase::loadMetric(std::string uuid)
    {

    }

    void SQLiteLoggingDatabase::checkError(int error_code)
    {
        if(error_code)
        {
            std::string err_msg = sqlite3_errmsg(this->db_connection);
            ROS_ERROR_STREAM("SQLITE ERROR: " << err_msg);
            throw SQLiteError(err_msg);
        }
    }

}

Answer 1

如果您的库依赖于 SQLite3，如错误消息和您的文件命名所建议的那样，您应该使用 find_package(SQLite3) 将此包导入 CMake。它没有出现（基于错误输出）SQLite3 库是通过 catkin_LIBRARIES 链接的，因此您可能必须手动执行此操作：

... 

# Tell CMake to locate the SQLite3 package on your machine.
find_package(SQLite3 REQUIRED)

add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})

# Link the SQLite3 imported target to your own library.
target_link_libraries(${PROJECT_NAME} PUBLIC SQLite::SQLite3)

...

如何搭建一个使用sqlite3的ros节点？

How to build a ros node that uses sqlite3?

c++

sqlite

cmake

ros

catkin