[CMake] 2 libs stuck together !
jay75
jkoregaokar at hotmail.com
Thu Oct 9 08:06:29 EDT 2014
i am working on ros indigo, ubuntu 14.04 trusty, opencv 2.4.9
i get this message:
/usr/bin/ld: cannot find -lopencv_calib3dlibpthread
now, "libpthread.so.0" and "libopencv_calib3d.so" are two separate libs in
"/usr/lib/x86_64-linux-gnu/", which i have added successfully to my
"link_libraries". what am i doing wrong? here is my cmakelists.txt :
cmake_minimum_required(VERSION 2.8.3)
project(hal_main)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED thread date_time system filesystem
program_options python )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
message_generation
roscpp
rospy
std_msgs
genmsg
visualization_msgs
clam_controller
clam_msgs
pcl_ros
cv_bridge
eigen_conversions
moveit_msgs
geometry_msgs
moveit_ros_planning
moveit_ros_planning_interface
tf
tf_conversions
moveit_simple_grasps
cmake_modules
moveit_core
# eigen_conversions
)
find_package(OpenCV REQUIRED )
find_package(OpenCV 2 REQUIRED )
#find_package(OpenCV 2 REQUIRED COMPONENTS calib3dlibpthread)
include_directories(${EIGEN_INCLUDE_DIRS})
add_definitions(${EIGEN_DEFINITIONS})
#SET( CMAKE_MODULE_PATH "/usr/share/cmake-2.8/Modules/" )
#set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
"${CMAKE_SOURCE_DIR}/share/cmake_modules/cmake/Modules/")
find_package(MySQL REQUIRED COMPONENTS libmysqlcppconn.so.7.1.1.3)
include_directories(${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
#link_directories(/usr/lib/mysql/plugin/${MYSQL_LIBRARY_DIRS})
#find_package(OpenCV2 REQUIRED)
#find_package(mysql REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in
MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
#find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs
moveit_msgs )
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES
...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
instr_set_arm.msg
instr_set_legs.msg
object.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
add_action_files(
FILES
arminstr.action
leginstr.action
objrecog_posit.action
sendcommand.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs
std_msgs
geometry_msgs
moveit_msgs
)
catkin_package(
CATKIN_DEPENDS
actionlib
actionlib_msgs
message_generation
roscpp
rospy
std_msgs
genmsg
visualization_msgs
clam_controller
clam_msgs
pcl_ros
cv_bridge
eigen_conversions
moveit_msgs
geometry_msgs
moveit_ros_planning
moveit_ros_planning_interface
tf
tf_conversions
moveit_simple_grasps
moveit_core
# INCLUDE_DIRS include
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: include/hal_main
## LIBRARIES: libraries you create in this project that dependent projects
also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also
need
catkin_package(
# INCLUDE_DIRS include include/hal_main
${CMAKE_INSTALL_PREFIX}/include/hal_main
# LIBRARIES hal_main
# CATKIN_DEPENDS actionlib actionlib_msgs message_generation roscpp rospy
std_msgs message_runtime geometry_msgs moveit_msgs
# DEPENDS
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( ${catkin_INCLUDE_DIRS})
include_directories( /usr/include/mysql ${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
link_directories(/usr/lib )
#${MYSQL_LIBRARY_DIRS}
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
include_directories( ${OpenCV_INCLUDE_DIRS} /usr/include/opencv
/usr/include/opencv2 )
add_definitions(${OpenCV_DEFINITIONS})
link_directories(${OpenCV_DIRECTORIES} )
link_libraries(${OpenCV_LIBS}libpthread.so.0 libopencv_calib3d.so)
#link_libraries(${OpenCV_LIBS}libpthread.so.0 libopencv_calib3d.so)
#include_directories( ${OpenCV 2_INCLUDE_DIRS} /usr/include/opencv2 )
#add_definitions(${OpenCV 2_DEFINITIONS})
#link_directories(/usr/local/lib/ )
#link_libraries(${OpenCV 2_LIBRARIES} )
## Declare a cpp library
# add_library(hal_main
# src/${PROJECT_NAME}/hal_main.cpp
# )
## Declare a cpp executable
add_executable(command_action_client src/commandclient.cpp)
add_dependencies(command_action_client hal_main_generate_messages_cpp)
target_link_libraries(command_action_client ${catkin_LIBRARIES})
#add_executable(command_action_server src/commandserver.cpp)
#add_dependencies(command_action_server hal_main_generate_messages_cpp)
#target_link_libraries(command_action_server ${MySQL_LIBRARIES}
${catkin_LIBRARIES})
if(MySQL_FOUND)
include_directories(${MySQL_INCLUDE_DIRS})
add_executable(command_action_server src/commandserver.cpp)
add_dependencies(command_action_server hal_main_generate_messages_cpp)
target_link_libraries(command_action_server ${MySQL_LIBRARIES})
endif()
add_executable(arms_action_server src/arms_server.cpp)
add_dependencies(arms_action_server hal_main_generate_messages_cpp)
target_link_libraries(arms_action_server ${catkin_LIBRARIES})
if(OpenCV_FOUND)
include_directories(${OpenCV_INCLUDE_DIRS})
add_executable(object_recog_pos_server src/obj_recog_posit_server.cpp)
add_dependencies(object_recog_pos_server hal_main_generate_messages_cpp)
target_link_libraries(object_recog_pos_server ${OpenCV_LIBS} )
endif()
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
## Specify libraries to link a library or executable target against
#target_link_libraries(tf_listener ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS hal_main hal_main_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hal_main.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
--
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