colcon 找不到第三方库 (Poco)答案

【问题标题】：colcon could not find thirdparty libraries (Poco)colcon 找不到第三方库 (Poco)
【发布时间】：2018-07-30 16:26:28
【问题描述】：

我正在尝试为 Arm 交叉编译 ROS2。我正在遵循的步骤可以在这里找到：https://github.com/ros2-for-arm/ros2/wiki/ROS2-on-arm-architecture

使用的构建命令是 colcon build --symlink-install --cmake-force-configure --cmake-args -DCMAKE_TOOLCHAIN_FILE=aarch64_toolchainfile.cmake -DTHIRDPARTY=ON -DBUILD_TESTING:BOOL=OFF

找不到 poco 库，但它在“/work/ROS2_Bouncy/ros2_ws/install/poco_vendor/lib/libPocoFoundation.so.50”中并且已正确交叉编译：

/work/ROS2_Bouncy/ros2_ws/install/poco_vendor/lib/libPocoFoundation.so.50: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked, BuildID[sha1]=6ba44c72e2162ca056b0dbde681dd4a8b5da5e35, not stripped

我想知道在哪里可以修改 CMake 脚本以指定第三方库的路径。我试图手动指定 Poco 的路径，但它不起作用：

add_library(Poco_import SHARED IMPORTED)
set_target_properties(Poco_import PROPERTIES
    IMPORTED_LOCATION "/work/ROS2_Bouncy/ros2_ws/install/poco_vendor/lib/libPocoFoundation.so.50"
)

我还尝试在CMAKE_EXE_LINKER_FLAGS 中添加 Poco 库的路径 (-L) 但没有成功。

一切看起来都编译正确，但我在链接阶段遇到错误：

Failed   <<< examples_rclcpp_minimal_publisher  [ Exited with code 2 ]
--- stderr: examples_rclcpp_minimal_timer
/work/Documents/aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.1.1/../../../../aarch64-linux-gnu/bin/ld: warning: libPocoFoundation.so.50, needed by /work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so, not found (try using -rpath or -rpath-link)
/work/Documents/aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.1.1/../../../../aarch64-linux-gnu/bin/ld: warning: libyaml.so, needed by /work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so, not found (try using -rpath or -rpath-link)
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_event_delete'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_parse'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::getSymbol(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_delete'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_initialize'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::hasSymbol(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_set_input_file'
collect2: error: ld returned 1 exit status
gmake[2]: *** [timer_lambda] Error 1
gmake[1]: *** [CMakeFiles/timer_lambda.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/work/Documents/aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.1.1/../../../../aarch64-linux-gnu/bin/ld: warning: libPocoFoundation.so.50, needed by /work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so, not found (try using -rpath or -rpath-link)
/work/Documents/aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.1.1/../../../../aarch64-linux-gnu/bin/ld: warning: libyaml.so, needed by /work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so, not found (try using -rpath or -rpath-link)
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_event_delete'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_parse'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::getSymbol(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_delete'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_initialize'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::hasSymbol(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rosidl_typesupport_cpp/lib/librosidl_typesupport_cpp.so: undefined reference to `Poco::SharedLibrary::SharedLibrary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/work/ROS2_Bouncy/ros2_ws/install/rcl_yaml_param_parser/lib/librcl_yaml_param_parser.so: undefined reference to `yaml_parser_set_input_file'
collect2: error: ld returned 1 exit status
gmake[2]: *** [timer_member_function] Error 1
gmake[1]: *** [CMakeFiles/timer_member_function.dir/all] Error 2
gmake: *** [all] Error 2

【问题讨论】：

-L 标志不是你的情况，你需要遵循链接器的建议 - 使用 -rpath 选项。查看问题stackoverflow.com/questions/13507600/… 以获得更多可能的解决方案。
我尝试在工具链文件中添加 set(CMAKE_INSTALL_RPATH "path to poco") 和 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) 但链接器给了我同样的错误。
嗯，很可能您需要分配CMAKE_BUILD_RPATH 变量。实际上，这个问题很奇怪 - 你有 librosidl_typesupport_cpp.so 库，但不能将它与其他选项一起使用。

标签： cmake ros2

【解决方案1】：

感谢 Tsyvarev 指出了正确的标志。我在工具链文件中添加了以下内容，它解决了这个问题。

set(PATH_POCO_LIB "${CMAKE_CURRENT_LIST_DIR}/build/poco_vendor/poco_external_project_install/lib/")
set(PATH_YAML_LIB "${CMAKE_CURRENT_LIST_DIR}/build/libyaml_vendor/libyaml_install/lib/")
set(CMAKE_BUILD_RPATH "${PATH_POCO_LIB};${PATH_YAML_LIB}")

【讨论】：