Hey guys, i just copy the codes , in the Chapter 10 of book,' Mastering ROS for Robotics Programming', to my ros. The cmakelists file is written as followed,
----------
cmake_minimum_required(VERSION 2.8.3)
project(seven_dof_arm_test)
find_package(catkin REQUIRED COMPONENTS
cmake_modules
interactive_markers
moveit_core
moveit_ros_perception
moveit_ros_planning_interface
pluginlib**
roscpp
std_msgs
)
find_package(Boost REQUIRED COMPONENTS system)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(test_random_node src/test_random.cpp)
add_dependencies(test_random_node seven_dof_arm_test_generate_messages_cpp)
target_link_libraries(test_random_node
${catkin_LIBRARIES}
)
include_directories(
${catkin_INCLUDE_DIRS}
)
----------
And the cpp file is shown as followed,
#include
int main(int argc, char **argv)
{
ros::init(argc, argv, "move_group_interface_demo", ros::init_options::AnonymousName);
// start a ROS spinning thread
ros::AsyncSpinner spinner(1);
spinner.start();
// this connecs to a running instance of the move_group node
move_group_interface::MoveGroup group("arm");
// specify that our target will be a random one
group.setRandomTarget();
// plan the motion and then move the group to the sampled target
group.move();
ros::waitForShutdown();
}
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Now when the package is compiling, the error occured ,
Linking CXX executable /home/aicrobo/catkin_ws/devel/lib/seven_dof_arm_test/test_random_node
/opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so: undefined reference to `ros::WallTimer::setPeriod(ros::WallDuration const&, bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/aicrobo/catkin_ws/devel/lib/seven_dof_arm_test/test_random_node] Error 1
make[1]: *** [seven_dof_arm_test/CMakeFiles/test_random_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j1 -l1" failed
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So do you have any idea about the problem? Thank you
↧