[ros-users] error in compiling amcl_node.cpp

[Ruben Smits]

On Monday 12 April 2010 16:22:04 Ruben Smits wrote:
> On Monday 12 April 2010 16:11:20 Ruben Smits wrote:
> > On Monday 12 April 2010 15:45:13 hitesh dhiman wrote:
> > > Hi all,
> > > Im trying to compile the amcl node to run the navigation stack.
> > > However, i get the following error:
> > > 
> > > amcl_node.cpp:(.text+0x2ee2): undefined reference to
> > > `pf_get_cluster_stats'
> > > 
> > >   amcl_node.cpp:(.text+0x3f65): undefined reference to
> > >   `pf_update_resample' CMakeFiles/amcl_node.dir/src/amcl_node.o: In
> > >   function
> > > 
> > > `AmclNode::~AmclNode()': amcl_node.cpp:(.text+0x7086): undefined
> > > reference to `map_free'
> > > 
> > >   amcl_node.cpp:(.text+0x7195): undefined reference to `pf_free'
> > >   CMakeFiles/amcl_node.dir/src/amcl_node.o: In function
> > > 
> > > `AmclNode::~AmclNode()': amcl_node.cpp:(.text+0x7676): undefined
> > > reference to `map_free'
> > > 
> > >   amcl_node.cpp:(.text+0x7785): undefined reference to `pf_free'
> > >   CMakeFiles/amcl_node.dir/src/amcl_node.o: In function
> > > 
> > > `AmclNode::requestMap()': amcl_node.cpp:(.text+0x7d1d): undefined
> > > reference to `map_alloc' CMakeFiles/amcl_node.dir/src/amcl_node.o: In
> > > function `AmclNode::AmclNode()': amcl_node.cpp:(.text+0x9b0c):
> > > undefined reference to `pf_alloc'
> > > 
> > >   amcl_node.cpp:(.text+0x9b3b): undefined reference to `pf_vector_zero'
> > >   amcl_node.cpp:(.text+0x9b70): undefined reference to `pf_matrix_zero'
> > >   amcl_node.cpp:(.text+0x9d88): undefined reference to `pf_init'
> > >   amcl_node.cpp:(.text+0x9da8): undefined reference to
> > > 
> > > `amcl::AMCLOdom::AMCLOdom()' amcl_node.cpp:(.text+0x9dea): undefined
> > > reference to `amcl::AMCLOdom::SetModelDiff(double, double, double,
> > > double)' amcl_node.cpp:(.text+0x9e17): undefined reference to
> > > `amcl::AMCLLaser::AMCLLaser(unsigned int, map_t*)'
> > > amcl_node.cpp:(.text+0x9e82): undefined reference to
> > > `amcl::AMCLLaser::SetModelBeam(double, double, double, double, double,
> > > double, double)' amcl_node.cpp:(.text+0xaa91): undefined reference to
> > > `amcl::AMCLLaser::SetModelLikelihoodField(double, double, double,
> > > double)' amcl_node.cpp:(.text+0xb118): undefined reference to
> > > `amcl::AMCLOdom::SetModelOmni(double, double, double, double, double)'
> > > CMakeFiles/amcl_node.dir/src/amcl_node.o: In function
> > > `AmclNode::AmclNode()': amcl_node.cpp:(.text+0xd7ad): undefined
> > > reference to `pf_alloc'
> > > 
> > >   amcl_node.cpp:(.text+0xd7dc): undefined reference to `pf_vector_zero'
> > >   amcl_node.cpp:(.text+0xd811): undefined reference to `pf_matrix_zero'
> > >   amcl_node.cpp:(.text+0xda29): undefined reference to `pf_init'
> > >   amcl_node.cpp:(.text+0xda49): undefined reference to
> > > 
> > > `amcl::AMCLOdom::AMCLOdom()' amcl_node.cpp:(.text+0xda8b): undefined
> > > reference to `amcl::AMCLOdom::SetModelDiff(double, double, double,
> > > double)' amcl_node.cpp:(.text+0xdab8): undefined reference to
> > > `amcl::AMCLLaser::AMCLLaser(unsigned int, map_t*)'
> > > amcl_node.cpp:(.text+0xdb23): undefined reference to
> > > `amcl::AMCLLaser::SetModelBeam(double, double, double, double, double,
> > > double, double)' amcl_node.cpp:(.text+0xe811): undefined reference to
> > > `amcl::AMCLLaser::SetModelLikelihoodField(double, double, double,
> > > double)' amcl_node.cpp:(.text+0xee98): undefined reference to
> > > `amcl::AMCLOdom::SetModelOmni(double, double, double, double, double)'
> > > collect2: ld returned 1 exit status
> > > 
> > >   make[3]: *** [../amcl_node] Error 1
> > > 
> > > I get these despite the fact that pf.h is included in the headers...
> > > Any suggestions would be helpful!
> > 
> > This is a linking error, if you do make VERBOSE=1 in the amcl package,
> > do you see the something like -lpf during the linking step?
> 
> I just checked the wiki, when linking the amcl_node you should see
> -lamcl_pf and -lamcl_sensors

I could not reproduce this, I'm using navigation boxturtle and the gold 
linker.

R.

> Ruben
> 
> > Ruben
> > 
> > > --
> > > Regards,
> > > Hitesh Dhiman
> > > Electrical Engineering
> > > National University of Singapore
> > 
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