Is the code for the tutorial in a package which declares a dependency
on laser_geometry?

Make sure there is a line such as:

  <depend package="laser_geometry"/>

in the manifest file for the package you are using for the tutorial.

On Sun, Sep 26, 2010 at 11:47 AM, Lisa Miller <lizajane999@gmail.com> wrote:
> I'm trying to work on the IntroductionToWorkingWithLaserScannerData
> tutorial and cannot get the given code to compile. It is having
> trouble with laser_geometry.h
>
> If I try to make the code as is I get this error:
> laser_scan.cpp:6:43: error: laser_geometry/laser_geometry.h: No such
> file or directory
>
> rospack find can find laser_geometry
>
> If I code in the full path to laser_geometry. h
> #include "/opt/ros/cturtle/stacks/laser_pipeline/laser_geometry/include/laser_geometry/laser_geometry.h"
>
> Then I get all sorts of compiler errors:
>  Building CXX object CMakeFiles/laser_scan.dir/src/laser_scan.o
>   Linking CXX executable ../bin/laser_scan
>   CMakeFiles/laser_scan.dir/src/laser_scan.o: In function
> `~LaserScanToPointCloud':
>   /home/lizajane999/ros/stacks/drive_base_tutorial/src/laser_scan.cpp:8:
> undefined reference to
> `laser_geometry::LaserProjection::~LaserProjection()'
>   /home/lizajane999/ros/stacks/drive_base_tutorial/src/laser_scan.cpp:8:
> undefined reference to
> `laser_geometry::LaserProjection::~LaserProjection()'
>   /home/lizajane999/ros/stacks/drive_base_tutorial/src/laser_scan.cpp:8:
> undefined reference to
> `laser_geometry::LaserProjection::~LaserProjection()'
>   /home/lizajane999/ros/stacks/drive_base_tutorial/src/laser_scan.cpp:8:
> undefined reference to
> `laser_geometry::LaserProjection::~LaserProjection()'
>   CMakeFiles/laser_scan.dir/src/laser_scan.o: In function
> `laser_geometry::LaserProjection::transformLaserScanToPointCloud(std::basic_string<char,
> std::char_traits<char>, std::allocator<char> > const&,
> sensor_msgs::LaserScan_<std::allocator<void> > const&,
> sensor_msgs::PointCloud_<std::allocator<void> >&, tf::Transformer&,
> int)':
>   /opt/ros/cturtle/stacks/laser_pipeline/laser_geometry/include/laser_geometry/laser_geometry.h:159:
> undefined reference to
> `laser_geometry::LaserProjection::transformLaserScanToPointCloud_(std::basic_string<char,
> std::char_traits<char>, std::allocator<char> > const&,
> sensor_msgs::PointCloud_<std::allocator<void> >&,
> sensor_msgs::LaserScan_<std::allocator<void> > const&,
> tf::Transformer&, int, bool)'
>   CMakeFiles/laser_scan.dir/src/laser_scan.o: In function
> `LaserScanToPointCloud':
>   /home/lizajane999/ros/stacks/drive_base_tutorial/src/laser_scan.cpp:28:
> undefined reference to
> `laser_geometry::LaserProjection::~LaserProjection()'
>   collect2: ld returned 1 exit status
>
>
> I've tried reinstalling laser_pipeline from both svn and Ubuntu
> packages but it doesn't change these errors.
>
>
>
> Lisa J. Miller
>
> Graduate Research Assistant
> Information and Computer Sciences Dept.
> University of Hawaii at Manoa
>
> lisa.miller@hawaii.edu
> lizajane999@gmail.com
>
> (808) 220-9029
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