ROS Roboearth Ubuntu 12.04 vision_opencv ссылка ошибка

Question

Я пробовал просить this question на ROS ответы без везения, поэтому я собираюсь попробовать здесь.

Я пытаюсь скомпилировать ROS Roboearth package и, похоже, некоторые ошибки связывания с vision_opencv.

Когда я впервые попытался скомпилировать с помощью предоставленных инструкций, я не смог выполнить сборку, потому что у меня был старый компилятор, и у меня не было Fuerte. Итак, я обновил Ubuntu до 12.04 и обновил до ROS Fuerte.

Тогда я понял, что 12.04 не имеет требуемой зависимости ros-fuerte-vision-opencv2. Итак, я скомпилировал и построил OpenCV 2.4.3 из источника, и это здорово. Затем я понял, что я также не могу вытащить ros-fuerte-vision-opencv, который я снова получил от here, проверил ветку «fuerte» и скомпилировал ее в/opt/ros/fuerte/stacks/vision_opencv.

Теперь, когда я пытаюсь сделать roboearth через

rosmake roboearth

я получаю следующие ошибки связывания.

Благодарим за помощь. Это может быть просто нехватка знаний о C++, но я попробовал все: от проверки зависимостей до переопределения порядка флагов и зависимостей компилятора, и я просто не могу заставить это работать.

[rosmake-1] Starting >>> ar_pose [ make ]                        
[ rosmake ] Last 40 lines_vision: 30.7 sec ] [ ar_pose: 4.2 sec ]          [ 2 Active 47/103 Complete ] 
{------------------------------------------------------------------------------- 
    make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    [ 70%] Built target rosbuild_precompile 
    make[3]: Entering directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    make[3]: Entering directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    Linking CXX executable ../bin/ar_multi 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `ar_pose::ARSinglePublisher::arInit()': 
    /home/sasha/ros/stacks/ccny_vision/ar_pose/src/ar_multi.cpp:140: undefined reference to `cvCreateImage' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `CvBridge': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:67: undefined reference to `cvCreateImageHeader' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `~CvBridge': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:73: undefined reference to `cvReleaseImageHeader' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:78: undefined reference to `cvReleaseImage' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::reallocIfNeeded_(_IplImage**, CvSize, int, int)': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:91: undefined reference to `cvReleaseImage' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:97: undefined reference to `cvCreateImage' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::reallocIfNeeded(_IplImage**, int, int)': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:109: undefined reference to `cvGetSize' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::fromImage(sensor_msgs::Image_<std::allocator<void> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:199: undefined reference to `cvInitMatHeader' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:200: undefined reference to `cvGetImage' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:229: undefined reference to `cvCreateMat' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:230: undefined reference to `cvConvertScale' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:236: undefined reference to `cvConvertScale' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:243: undefined reference to `cvCvtColor' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:245: undefined reference to `cvCvtColor' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:247: undefined reference to `cvCvtColor' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:249: undefined reference to `cvCvtColor' 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:253: undefined reference to `cvCvtColor' 
    CMakeFiles/ar_multi.dir/src/ar_multi.o:/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:255: more undefined references to `cvCvtColor' follow 
    CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::fromImage(sensor_msgs::Image_<std::allocator<void> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)': 
    /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:293: undefined reference to `cvReleaseMat' 
    collect2: ld returned 1 exit status 
    make[3]: *** [../bin/ar_multi] Error 1 
    make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    make[2]: *** [CMakeFiles/ar_multi.dir/all] Error 2 
    make[2]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
    make[1]: *** [all] Error 2 
    make[1]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build' 
-------------------------------------------------------------------------------} 
[ rosmake ] Output from build of package ar_pose written to: 
[ rosmake ] /home/sasha/.ros/rosmake/rosmake_output-20130212-145046/ar_pose/build_output.log 
[rosmake-1] Finished <<< ar_pose [FAIL] [ 4.31 seconds ]                    
[ rosmake ] Halting due to failure in package ar_pose. 
[ rosmake ] Waiting for other threads to complete.       
[ rosmake ] Last 40 lines_vision: 182.3 sec ]               [ 1 Active 47/103 Complete ] 
{------------------------------------------------------------------------------- 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvReleaseMat' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::reshape(int, int, int const*) const' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvSetZero' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::warpPerspective(cv::_InputArray const&, cv::_OutputArray const&, cv::_InputArray const&, cv::Size_<int>, int, int, cv::Scalar_<double> const&)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::getTextSize(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, double, int, int*)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::zeros(int, int, int)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::_InputArray::_InputArray(cv::MatExpr const&)' 
    ../lib/libDVision.so: undefined reference to `cv::read(cv::FileNode const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::DescriptorMatcher::DescriptorCollection::~DescriptorCollection()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::FlannBasedMatcher::train()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvCvtColor' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::MatConstIterator::seek(int const*, bool)' 
    ../lib/libDVision.so: undefined reference to `cv::FeatureDetector::~FeatureDetector()' 
    ../lib/libDUtilsCV.so: undefined reference to `cv::line(cv::Mat&, cv::Point_<int>, cv::Point_<int>, cv::Scalar_<double> const&, int, int, int)' 
    ../lib/libDVision.so: undefined reference to `cv::Exception::Exception(int, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::initUndistortRectifyMap(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int>, int, cv::_OutputArray const&, cv::_OutputArray const&)' 
    ../lib/libDVision.so: undefined reference to `cv::WriteStructContext::~WriteStructContext()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::copySize(cv::Mat const&)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvCreateImageHeader' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::inv(int) const' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::copyTo(cv::_OutputArray const&) const' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::Mat(cv::Mat const&, cv::Range const&, cv::Range const&)' 
    ../lib/libDVision.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::flann::IndexParams::~IndexParams()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvGetSize' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::deallocate()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::_InputArray::_InputArray(double const&)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cvCreateImage' 
    ../lib/libDUtilsCV.so: undefined reference to `cv::namedWindow(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Algorithm::~Algorithm()' 
    ../lib/libObjectDetectorFunctions.so: undefined reference to `cv::FlannBasedMatcher::FlannBasedMatcher(cv::Ptr<cv::flann::IndexParams> const&, cv::Ptr<cv::flann::SearchParams> const&)' 
    ../lib/libDVision.so: undefined reference to `cv::Algorithm::set(char const*, bool)' 
    collect2: ld returned 1 exit status 
    make[3]: *** [../bin/ObjectDetector] Error 1 
    make[3]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build' 
    make[2]: *** [CMakeFiles/ObjectDetector.dir/all] Error 2 
    make[2]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build' 
    make[1]: *** [all] Error 2 
    make[1]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build' 
-------------------------------------------------------------------------------} 
[ rosmake ] Output from build of package re_vision written to: 
[ rosmake ] /home/sasha/.ros/rosmake/rosmake_output-20130212-145046/re_vision/build_output.log 
[rosmake-0] Finished <<< re_vision [FAIL] [ 182.31 seconds ]                   
[ rosmake ] Halting due to failure in package re_vision. 

Answer 1

Хорошо, поэтому я смог решить проблему.

Сначала я сделал sudo apt-get update, и я увидел, что я получаю следующее сообщение:

W: Duplicate sources.list entry http://archive.canonical.com/ubuntu/ precise/partner i386 Packages (/var/lib/apt/lists/archive.canonical.com_ubuntu_dists_precise_partner_binary-i386_Packages)

Чтобы решить эту проблему, я пошел в `Synaptic Package Manager-> Настройки -> Хранилища -> Другое программное обеспечение» и unchecked «Canonical Partners - добавлено программным центром».

Затем сделал sudo apt-get update еще раз. Это решило указанную выше проблему.

Затем я отправился в следующий файл /etc/apt/sources.list.d/ros-latest.list и увидел, что URL-адрес был закомментирован. Я расколол следующую строку deb http://packages.ros.org/ros/ubuntu precise main и снова запустил sudo apt-get update.

После этого момента я был в состоянии установить все зависимости, которые необходимы для roboearth и через APT-получить и смог успешно сделать roboearth с rosmake roboearth