I'm building a VREP bridge ROS node, on Ubuntu 14.04, so a ROS application can connect to a VREP server running on a Windows machine.
However, when I tried to link my application to the "remoteApi.so" file distributed with VREP, I got the following error:
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/usr/bin/ld: cannot find -lremoteApi
Ubuntu 14.04.1
ROS Indigo
I downloaded VREP and extracted it to "/opt/V-REP_PRO_EDU_V3_3_1_64_Linux".
My application is a simple ROS node:
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#include "ros/ros.h"
#include "std_msgs/String.h"
extern "C" {
#include "extApi.h"
}
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "vrep_bridge");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
int port = 19997;
int clientID=simxStart((simxChar*)"127.0.0.1",port,true,true,2000,5);
if (clientID!=-1)
{
ROS_INFO("Connected to V-REP");
simxFinish(clientID);
}else{
ROS_INFO("Could not connect to V-REP");
}
ros::spin();
return 0;
}
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cmake_minimum_required(VERSION 2.8.3)
project(vrep_bridge)
# Uncomment the line below to enable linker verbose output
# http://stackoverflow.com/a/21647591/702828
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Xlinker --verbose")
## 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
roscpp
rospy
std_msgs
message_generation
)
## 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 tag for "message_generation"
## * 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 dependency has been pulled in
## but can be declared for certainty nonetheless:
## * 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 ...)
## * 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
Num.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
AddTwoInts.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## 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
# LIBRARIES vrep_bridge
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
# VREP ======================================================================
if(NOT VREP_ROOT_DIR)
set(VREP_ROOT_DIR $ENV{VREP_ROOT_DIR} CACHE PATH "Installation prefix for V-Rep." FORCE)
endif()
message(STATUS "including ${VREP_ROOT_DIR}/programming/include/")
message(STATUS "including ${VREP_ROOT_DIR}/programming/remoteApi/")
file(STRINGS ${VREP_ROOT_DIR}/readme.txt README_TXT LIMIT_COUNT 1)
string(REGEX MATCHALL "V([^\" ]+|\"[^\"]+\")" README_TXT "${README_TXT}")
string(REGEX MATCHALL "[0-9]" README_TXT "${README_TXT}")
list(GET README_TXT 0 VREP_VERSION_MAJOR)
list(GET README_TXT 1 VREP_VERSION_MINOR)
list(GET README_TXT 2 VREP_VERSION_PATCH)
message(STATUS "Using vrep version: ${VREP_VERSION_MAJOR}.${VREP_VERSION_MINOR}.${VREP_VERSION_PATCH}")
# VREP remoteApi shared object does not follow the correct naming standard ('libXXXX.so')
# and was not compiled with a SONAME. See link below.
# http://cmake.3232098.n2.nabble.com/linking-with-so-w-non-standard-names-td3441137.html
#set(CMAKE_PLATFORM_USES_PATH_WHEN_NO_SONAME FALSE)
set(VREP_REMOTAPI ${VREP_ROOT_DIR}/programming/remoteApiBindings/lib/lib/64Bit/remoteApi.so)
# VREP ======================================================================
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${VREP_ROOT_DIR}/programming/include/
${VREP_ROOT_DIR}/programming/remoteApi/
)
## Declare a C++ library
# add_library(vrep_bridge
# src/${PROJECT_NAME}/vrep_bridge.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(vrep_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(vrep_bridge_node src/vrep_bridge_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(vrep_bridge_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(vrep_bridge_node
# ${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 vrep_bridge vrep_bridge_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_vrep_bridge.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)
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker vrep_bridge_generate_messages_cpp)
add_executable(listener src/listener.cpp)
add_dependencies(listener vrep_bridge_generate_messages_cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_executable(vrep_bridge src/vrep_bridge.cpp)
target_link_libraries(vrep_bridge ${catkin_LIBRARIES} ${VREP_REMOTAPI})
add_dependencies(vrep_bridge vrep_bridge_generate_messages_cpp)
add_executable(start_vrep src/start_vrep.cpp)
target_link_libraries(start_vrep ${catkin_LIBRARIES})
Following the information available in this post, I was able to find two solutions for this problem:
1- Rename the ".../programming/remoteApiBindings/lib/lib/64Bit/remoteApi.so" to "libremoteApi.so".
2- Add the following line before "target_link_libraries"
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set(CMAKE_PLATFORM_USES_PATH_WHEN_NO_SONAME FALSE)
Cheers,
Arthur Queiroz