ROS中的google :: protobuf的未定义引用CPP

  • Z时代
  • 2024-01-10
  • 分类：问答

我试图在ROS Indigo中使用Protocol Buffers。看起来在链接CPP源代码时存在问题。在编译时，它抛出以下错误：ROS中的google :: protobuf的未定义引用CPP

Linking CXX executable /home/ravi/ros_ws/devel/lib/protobuf_ros_tutorial/add_person 
CMakeFiles/add_person.dir/src/add_person.cc.o: In function `PromptForAddress(tutorial::Person*)': 
add_person.cc:(.text+0x6a): undefined reference to `google::protobuf::internal::fixed_address_empty_string' 
add_person.cc:(.text+0x1a5): undefined reference to `google::protobuf::internal::ArenaImpl::AllocateAlignedAndAddCleanup(unsigned long, void (*)(void*))' 
add_person.cc:(.text+0x1cc): undefined reference to `google::protobuf::internal::fixed_address_empty_string' 
add_person.cc:(.text+0x322): undefined reference to `google::protobuf::internal::fixed_address_empty_string' 
add_person.cc:(.text+0x454): undefined reference to `google::protobuf::util::TimeUtil::SecondsToTimestamp(long)' 
add_person.cc:(.text+0x496): undefined reference to `google::protobuf::Timestamp::CopyFrom(google::protobuf::Timestamp const&)' 
add_person.cc:(.text+0x49e): undefined reference to `google::protobuf::Timestamp::~Timestamp()' 
add_person.cc:(.text+0x52c): undefined reference to `google::protobuf::internal::fixed_address_empty_string'

下面是CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3) 
project(protobuf_ros_tutorial) 
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") 
find_package(catkin REQUIRED COMPONENTS 
    roscpp 
) 
find_package(Protobuf REQUIRED) 
catkin_package(
) 
include_directories(
    include 
    ${catkin_INCLUDE_DIRS} 
    ${PROTOBUF_INCLUDE_DIRS} 
) 
add_library(addressbook_protobuf include/addressbook.pb.cc) 
add_executable(add_person src/add_person.cc) 
target_link_libraries(
    add_person 
    ${catkin_LIBRARIES} 
    addressbook_protobuf 
    ${PROTOBUF_LIBRARIES} 
)

的package.xml是有默认内容如下：

<?xml version="1.0"?> 
<package format="2"> 
    <name>protobuf_ros_tutorial</name> 
    <version>0.0.0</version> 
    <description>The protobuf_ros_tutorial package</description> 
    <maintainer email="[email protected]">ravi</maintainer> 
    <license>TODO</license> 
    <buildtool_depend>catkin</buildtool_depend> 
    <build_depend>roscpp</build_depend> 
    <build_export_depend>roscpp</build_export_depend> 
    <exec_depend>roscpp</exec_depend> 
    <export> 
    </export> 
</package>

下面是ROS的文件结构包：

[email protected]:~/ros_ws/src/protobuf_ros_tutorial$ ls -R 
.: 
CMakeLists.txt include package.xml src 
./include: 
addressbook.pb.cc addressbook.pb.h addressbook.proto 
./src: 
add_person.cc

我怀疑CMakeLists.txt文件。我错过了什么吗？

回答：

Protobuf的版本不匹配。我从源码安装了Protobuf 3。但是，ROS Indigo在内部使用Protobuf 2.

作为一种解决方法，我删除了Protobuf 3，然后将其安装在我的项目本地。

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